void USART1_IRQHandler(void)
{
    static uint8_t byte;
    static portBASE_TYPE xHigherPriorityTaskWoken;
    xHigherPriorityTaskWoken = pdFALSE;
    if(USART1_SR_bit.RXNE == 1)
    { //прерывание по приему
        byte = USART1_DR; //флаг прерывания сбрасывается при чтении регистра USART1_DR
        xQueueSendToBackFromISR(uart485Queue, &byte, &xHigherPriorityTaskWoken);
    }
    //portEND_SWITCHING_ISR(xHigherPriorityTaskWoken == pdTRUE );
}

void xPortSysTickHandler( void )
{
    /* The SysTick runs at the lowest interrupt priority, so when this interrupt
    executes all interrupts must be unmasked.  There is therefore no need to
    save and then restore the interrupt mask value as its value is already
    known. */
    ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
    {
        /* Increment the RTOS tick. */
        if( xTaskIncrementTick() != pdFALSE )
        {
            /* A context switch is required.  Context switching is performed in
            the PendSV interrupt.  Pend the PendSV interrupt. */
            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
        }
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
}

void xPortSysTickHandler( void )
{
unsigned long ulDummy;

    /* If using preemption, also force a context switch. */
    #if configUSE_PREEMPTION == 1
        *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
    #endif

    ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
    {
        vTaskIncrementTick();
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
}

#define configUSE_PREEMPTION        1
#define configUSE_IDLE_HOOK            0
#define configUSE_TICK_HOOK            0
#define configCPU_CLOCK_HZ            ( ( unsigned long ) 22148100 )    
#define configTICK_RATE_HZ            ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES        ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE    ( ( unsigned short ) 80 )
#define configTOTAL_HEAP_SIZE        ( ( size_t ) 3500 )
#define configMAX_TASK_NAME_LEN        ( 16 )
#define configUSE_TRACE_FACILITY    0
#define configUSE_16_BIT_TICKS        0
#define configIDLE_SHOULD_YIELD        1

#define configUSE_MUTEXES            1
#define configCHECK_FOR_STACK_OVERFLOW        1

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES         0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet        0
#define INCLUDE_uxTaskPriorityGet        0
#define INCLUDE_vTaskDelete                0
#define INCLUDE_vTaskCleanUpResources    0
#define INCLUDE_vTaskSuspend            0
#define INCLUDE_vTaskDelayUntil            1
#define INCLUDE_vTaskDelay                1
#define INCLUDE_uxTaskGetStackHighWaterMark 1

/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
(lowest) to 0 (1?) (highest). */
#define configKERNEL_INTERRUPT_PRIORITY         255
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY     191 /* equivalent to 0xb0, or priority 11. */


/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15.  This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY    15

int main()
{
    systemInit();
    portBASE_TYPE pTask;
    pTask = xTaskCreate(uartTask, (const signed char* )"uartTask", 130, 0, 3, 0);
    if(pTask == pdPASS )
        vTaskStartScheduler();
    return 0;
}

void uartTask(void *parametr)
{
    static uint16_t countRx;
    uint8_t byte;
    for(;;)
    {
        xQueueReceive(uart485Queue, &byte, portMAX_DELAY);
        countRx = 0;
        rxBuffer[countRx] = byte;
        if(rxBuffer[countRx++] == '#')
        {
            //Обработчик приема.
        }
        vTaskDelay(1);
    }

}

vPortYieldFromTick:
    portSAVE_CONTEXT; Save the context of the current task.
    call vTaskIncrementTick; Call the timer tick function.
    call vTaskSwitchContext; Call the scheduler.
    portRESTORE_CONTEXT; Restore the context of whichever task the ...
    ret                ; ... scheduler decided should run.

vPortYieldFromTick:
    portSAVE_CONTEXT; Save the context of the current task.
    call xTaskIncrementTick; Call the timer tick function.
    tst r16
    breq SkipTaskSwitch
    call vTaskSwitchContext; Call the scheduler.
SkipTaskSwitch:
    portRESTORE_CONTEXT; Restore the context of whichever task the ...
    ret                ; ... scheduler decided should run.

/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
(lowest) to 0 (1?) (highest). */
#define configKERNEL_INTERRUPT_PRIORITY         255
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY     191 /* equivalent to 0xb0, or priority 11. */


/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15.  This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY    15

...
xQueueHandle uart485Queue;
...
uart485Queue = xQueueCreate( 10, sizeof(char));

void xPortSysTickHandler( void )
{
    /* The SysTick runs at the lowest interrupt priority, so when this interrupt
    executes all interrupts must be unmasked.  There is therefore no need to
    save and then restore the interrupt mask value as its value is already
    known. */
    ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
    {
        /* Increment the RTOS tick. */
        if( xTaskIncrementTick() != pdFALSE )
        {
            /* A context switch is required.  Context switching is performed in
            the PendSV interrupt.  Pend the PendSV interrupt. */
            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
        }
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
}

xPortPendSVHandler:
    mrs r0, psp                        
    ldr    r3, =pxCurrentTCB            /* Get the location of the current TCB. */
    ldr    r2, [r3]                        

    stmdb r0!, {r4-r11}                /* Save the remaining registers. */
    str r0, [r2]                    /* Save the new top of stack into the first member of the TCB. */

    stmdb sp!, {r3, r14}
    mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
    msr basepri, r0
    bl vTaskSwitchContext            
    mov r0, #0
    msr basepri, r0
    ldmia sp!, {r3, r14}

    ldr r1, [r3]                    
    ldr r0, [r1]                    /* The first item in pxCurrentTCB is the task top of stack. */
    ldmia r0!, {r4-r11}                /* Pop the registers. */
    msr psp, r0                        
    bx r14