When an ISR does something which logically unblocks a new task (giving a binary semaphore, putting something in a queue), we want to yield. Dumb question perhaps: why not just simulate a timer interrupt ? This would get back to the scheduler quickly and cleanly after the ISR returns. This would mess up anything using the timer for stable timing without some addition work (accumulate partial timer values in the timer ISR and adjust the tick count accordingly), but that’s not hard. Might make things simpler ? Still doesn’t allow an ISR to mess with queues while running at a higher priority than FreeRTOS. Thoughts ?
Best Regards, Dave