C++ portEND_SWITCHING_ISR函数代码示例

/**
* @brief Put a Message to a Queue.
* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
* @param  info      message information.
* @param  millisec  timeout value or 0 in case of no time-out.
* @retval status code that indicates the execution status of the function.
* @note   MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
*/
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)
{
  portBASE_TYPE taskWoken = pdFALSE;
  TickType_t ticks;
  
  ticks = millisec / portTICK_PERIOD_MS;
  if (ticks == 0) {
    ticks = 1;
  }
  
  if (inHandlerMode()) {
    if (xQueueSendFromISR(queue_id, &info, &taskWoken) != pdTRUE) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else {
    if (xQueueSend(queue_id, &info, ticks) != pdTRUE) {
      return osErrorOS;
    }
  }
  
  return osOK;
}

/* The ISR executed when the user button is pushed. */
void EXTI0_IRQHandler( void )
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* The button was pushed, so ensure the LED is on before resetting the
	LED timer.  The LED timer will turn the LED off if the button is not
	pushed within 5000ms. */
	STM32vldiscovery_LEDOn( LED4 );

	/* This interrupt safe FreeRTOS function can be called from this interrupt
	because the interrupt priority is below the
	configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
	xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );

	/* Clear the interrupt before leaving. */
	EXTI_ClearITPendingBit( EXTI_Line0 );

	/* If calling xTimerResetFromISR() caused a task (in this case the timer
	service/daemon task) to unblock, and the unblocked task has a priority
	higher than or equal to the task that was interrupted, then
	xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
	portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
	portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}

/* The ISR executed when the user button is pushed. */
void vPort_E_ISRHandler( void )
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* The button was pushed, so ensure the LED is on before resetting the
	LED timer.  The LED timer will turn the LED off if the button is not
	pushed within 5000ms. */
	vParTestSetLED( mainTIMER_CONTROLLED_LED, pdTRUE );

	/* This interrupt safe FreeRTOS function can be called from this interrupt
	because the interrupt priority is equal to or below the
	configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
	xTimerResetFromISR( xLEDButtonTimer, &xHigherPriorityTaskWoken );

	/* Clear the interrupt before leaving.  */
	PORTE_ISFR = 0xFFFFFFFFUL;

	/* If calling xTimerResetFromISR() caused a task (in this case the timer
	service/daemon task) to unblock, and the unblocked task has a priority
	higher than or equal to the task that was interrupted, then
	xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
	portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
	portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}

/**
 * @brief	EMAC interrupt handler
 * @return	Nothing
 * @note	This function handles the transmit, receive, and error interrupt of
 * the LPC17xx/40xx. This is meant to be used when NO_SYS=0.
 */
void ETH_IRQHandler(void)
{
#if NO_SYS == 1
    /* Interrupts are not used without an RTOS */
    NVIC_DisableIRQ(ETHERNET_IRQn);
#else
    signed portBASE_TYPE xRecTaskWoken = pdFALSE, XTXTaskWoken = pdFALSE;
    uint32_t ints;

    /* Interrupts are of 2 groups - transmit or receive. Based on the
       interrupt, kick off the receive or transmit (cleanup) task */

    /* Get pending interrupts */
    ints = Chip_ENET_GetIntStatus(LPC_ETHERNET);

    if (ints & RXINTGROUP) {
        /* RX group interrupt(s) */
        /* Give semaphore to wakeup RX receive task. Note the FreeRTOS
           method is used instead of the LWIP arch method. */
        xSemaphoreGiveFromISR(lpc_enetdata.rx_sem, &xRecTaskWoken);
    }

    if (ints & TXINTGROUP) {
        /* TX group interrupt(s) */
        /* Give semaphore to wakeup TX cleanup task. Note the FreeRTOS
           method is used instead of the LWIP arch method. */
        xSemaphoreGiveFromISR(lpc_enetdata.tx_clean_sem, &XTXTaskWoken);
    }

    /* Clear pending interrupts */
    Chip_ENET_ClearIntStatus(LPC_ETHERNET, ints);

    /* Context switch needed? */
    portEND_SWITCHING_ISR(xRecTaskWoken || XTXTaskWoken);
#endif
}

static void vUARTReceiveHandler( alt_u32 status )
{
signed char cChar;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* If there was an error, discard the data */
	if ( status & ( ALTERA_AVALON_UART_STATUS_PE_MSK | ALTERA_AVALON_UART_STATUS_FE_MSK ) )
	{
        asm("break");
		return;
	}

	/* Transfer data from the device to the circular buffer */
	cChar = IORD_ALTERA_AVALON_UART_RXDATA( UART_BASE );
	if ( pdTRUE != xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken ) )
	{
		/* If the circular buffer was full, disable interrupts. Interrupts will 
        be re-enabled when data is removed from the buffer. */
		uartControl &= ~ALTERA_AVALON_UART_CONTROL_RRDY_MSK;
		IOWR_ALTERA_AVALON_UART_CONTROL( UART_BASE, uartControl );
	}
    
	portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}

void vT5InterruptHandler( void )
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* This function is the handler for the peripheral timer interrupt.
	The interrupt is initially signalled in a separate assembly file
	which switches to the system stack and then calls this function.
	It gives a semaphore which signals the prvISRBlockTask */

	/* Give the semaphore.  If giving the semaphore causes the task to leave the
	Blocked state, and the priority of the task is higher than the priority of
	the interrupted task, then xHigherPriorityTaskWoken will be set to pdTRUE
	inside the xSemaphoreGiveFromISR() function.  xHigherPriorityTaskWoken is
	later passed into portEND_SWITCHING_ISR(), where a context switch is
	requested if it is pdTRUE.  The context switch ensures the interrupt returns
	directly to the unblocked task. */
	xSemaphoreGiveFromISR( xBlockSemaphore, &xHigherPriorityTaskWoken );

	/* Clear the interrupt */
	IFS0CLR = _IFS0_T5IF_MASK;

	/* See comment above the call to xSemaphoreGiveFromISR(). */
	portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}

void vUARTInterruptHandler( void )
{
    portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
    char cChar;

    if( USART_GetITStatus( USART1, USART_IT_TXE ) == SET ) {
        /* The interrupt was caused by the THR becoming empty.  Are there any
        more characters to transmit? */
        if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE ) {
            /* A character was retrieved from the queue so can be sent to the
            THR now. */
            USART_SendData( USART1, cChar );
        } else {
            USART_ITConfig( USART1, USART_IT_TXE, DISABLE );
        }
    }

    if( USART_GetITStatus( USART1, USART_IT_RXNE ) == SET ) {
        cChar = USART_ReceiveData( USART1 );
        xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
    }

    portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}

void usart1_isr(void) {
	long xHigherPriorityTaskWoken = pdFALSE;
	char cChar;

	// ----- transmission complete:
	if (usart_get_flag(USART1, USART_SR_TC) == true) {
		gpio_clear(GPIOA, GPIO12); // clear RTS
		gpio_clear(GPIOA, GPIO_USART1_TX); // clear DI
		USART_SR(USART1) &= ~USART_SR_TC;	// reset flag TC
		usart_disable_tx_interrupt(USART1);
	}

	if (usart_get_flag(USART1, USART_SR_TXE) == true) {
		/* The interrupt was caused by the THR becoming empty.  Are there any
		 more characters to transmit? */
		if (xQueueReceiveFromISR(xCharsForTx[0], &cChar,
				&xHigherPriorityTaskWoken)) {
			/* A character was retrieved from the buffer so can be sent to the
			 THR now. */
			gpio_set(GPIOA, GPIO12); // set RTS
			usart_send(USART1, (uint8_t) cChar);
		} else {
//			gpio_clear(GPIOA, GPIO12); // clear RTS
//			usart_disable_tx_interrupt(USART1);
//			USART_SR(USART1) &= ~USART_SR_TXE;	// reset flag TXE
//			USART_CR1(USART1) |= USART_CR1_TCIE;
		}
	}

	if (usart_get_flag(USART1, USART_SR_RXNE) == true) {
		cChar = (char) usart_recv(USART1);
		xQueueSendFromISR(xRxedChars[0], &cChar, &xHigherPriorityTaskWoken);
	}

	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}

void EP3_OUT_Callback(void)
{
        portBASE_TYPE hpta = false;
        xQueueHandle queue = serial_get_rx_queue(usb_state.serial);
        uint8_t *buff = usb_state.USB_Rx_Buffer;

	/* Get the received data buffer and clear the counter */
	const size_t len = USB_SIL_Read(EP3_OUT, buff);

        for (size_t i = 0; i < len; ++i)
                xQueueSendFromISR(queue, buff + i, &hpta);

	/*
         * STIEG HACK
         * For now just assume that all the data made it into the queue.  This
         * is what we do in MK2.  Probably shouldn't go out the door like this.
	 */
        SetEPRxValid(ENDP3);

        if (usb_state.rx_isr_cb)
                usb_state.rx_isr_cb();

        portEND_SWITCHING_ISR(hpta);
}

void vT3InterruptHandler( void )
{
	TimerIntClear( TIMER3_BASE, TIMER_TIMA_TIMEOUT );
	portEND_SWITCHING_ISR( xSecondTimerHandler() );
}

/*
 * For internal use only.
 * A common SPI interrupt handler that is called for all SPI peripherals.
 */
static void local_spi_handler(const portBASE_TYPE spi_index)
{
	portBASE_TYPE higher_priority_task_woken = pdFALSE;
	uint32_t spi_status;
	Spi *spi_port;

	spi_port = all_spi_definitions[spi_index].peripheral_base_address;

	spi_status = spi_read_status(spi_port);
	spi_status &= spi_read_interrupt_mask(spi_port);

	/* Has the PDC completed a transmission? */
	if ((spi_status & SPI_SR_ENDTX) != 0UL) {
		spi_disable_interrupt(spi_port, SPI_IDR_ENDTX);

		/* If the driver is supporting multi-threading, then return the access
		mutex. */
		if (tx_dma_control[spi_index].peripheral_access_mutex != NULL) {
			xSemaphoreGiveFromISR(
					tx_dma_control[spi_index].peripheral_access_mutex,
					&higher_priority_task_woken);
		}

		/* if the sending task supplied a notification semaphore, then
		 * notify the task that the transmission has completed. */
		if (tx_dma_control[spi_index].transaction_complete_notification_semaphore != NULL) {
			xSemaphoreGiveFromISR(
					tx_dma_control[spi_index].transaction_complete_notification_semaphore,
					&higher_priority_task_woken);
		}
	}

	/* Has the PDC completed a reception? */
	if ((spi_status & SPI_SR_ENDRX) != 0UL) {
		spi_disable_interrupt(spi_port, SPI_IDR_ENDRX);

		/* If the driver is supporting multi-threading, then return the access
		mutex.  NOTE: As a reception is performed by first performing a
		transmission, the SPI receive function uses the tx access semaphore. */
		if (tx_dma_control[spi_index].peripheral_access_mutex != NULL) {
			xSemaphoreGiveFromISR(
					tx_dma_control[spi_index].peripheral_access_mutex,
					&higher_priority_task_woken);
		}

		/* If the receiving task supplied a notification semaphore, then
		notify the task that the transmission has completed. */
		if (rx_dma_control[spi_index].transaction_complete_notification_semaphore != NULL) {
			xSemaphoreGiveFromISR(
					rx_dma_control[spi_index].transaction_complete_notification_semaphore,
					&higher_priority_task_woken);
		}
	}

	if ((spi_status & SR_ERROR_INTERRUPTS) != 0) {
		/* An mode error occurred in either a transmission or reception.  Abort.
		Stop the transmission, disable interrupts used by the peripheral, and
		ensure the peripheral access mutex is made available to tasks.  As this
		peripheral is half duplex, only the Tx peripheral access mutex exits. */
		spi_disable_interrupt(spi_port, SPI_IDR_ENDTX);
		spi_disable_interrupt(spi_port, SPI_IDR_ENDRX);

		if (tx_dma_control[spi_index].peripheral_access_mutex != NULL) {
			xSemaphoreGiveFromISR(
					tx_dma_control[spi_index].peripheral_access_mutex,
					&higher_priority_task_woken);
		}

		/* The SPI port will have been disabled, re-enable it. */
		spi_enable(spi_port);
	}

	/* If giving a semaphore caused a task to unblock, and the unblocked task
	has a priority equal to or higher than the currently running task (the task
	this ISR interrupted), then higher_priority_task_woken will have
	automatically been set to pdTRUE within the semaphore function.
	portEND_SWITCHING_ISR() will then ensure that this ISR returns directly to
	the higher priority unblocked task. */
	portEND_SWITCHING_ISR(higher_priority_task_woken);
}

void __attribute__ ((interrupt)) __cs3_isr_interrupt_120( void )
{
	MCF_PIT1_PCSR |= MCF_PIT_PCSR_PIF;
	portEND_SWITCHING_ISR( xFirstTimerHandler() );
}

void UART3_IRQHandler( void )
{
uint32_t ulInterruptSource, ulReceived;
const uint32_t ulRxInterrupts = ( UART_IIR_INTID_RDA | UART_IIR_INTID_CTI );
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
const unsigned portBASE_TYPE uxUARTNumber = 3UL;
Transfer_Control_t *pxTransferStruct;

	/* Determine the interrupt source. */
	ulInterruptSource = UART_GetIntId( LPC_UART3 );

	if( ( ulInterruptSource & ulRxInterrupts ) != 0UL )
	{
		pxTransferStruct = pxRxTransferControlStructs[ uxUARTNumber ];
		if( pxTransferStruct != NULL )
		{
			switch( diGET_TRANSFER_TYPE_FROM_CONTROL_STRUCT( pxTransferStruct ) )
			{
				case ioctlUSE_CIRCULAR_BUFFER_RX :

					#if ioconfigUSE_UART_CIRCULAR_BUFFER_RX == 1
					{
						ioutilsRX_CHARS_INTO_CIRCULAR_BUFFER_FROM_ISR(
																	pxTransferStruct, 	/* The structure that contains the reference to the circular buffer. */
																	( ( LPC_UART3->LSR & UART_LSR_RDR ) != 0 ), 	/* While loop condition. */
																	LPC_UART3->RBR,			/* Register holding the received character. */
																	ulReceived,
																	xHigherPriorityTaskWoken
																);
					}
					#endif /* ioconfigUSE_UART_CIRCULAR_BUFFER_RX */
					break;


				case ioctlUSE_CHARACTER_QUEUE_RX :

					#if ioconfigUSE_UART_RX_CHAR_QUEUE == 1
					{
						ioutilsRX_CHARS_INTO_QUEUE_FROM_ISR( pxTransferStruct, ( ( LPC_UART3->LSR & UART_LSR_RDR ) != 0 ), LPC_UART3->RBR, ulReceived, xHigherPriorityTaskWoken );
					}
					#endif /* ioconfigUSE_UART_RX_CHAR_QUEUE */
					break;


				default :

					/* This must be an error.  Force an assert. */
					configASSERT( xHigherPriorityTaskWoken );
					break;
			}
		}
	}

	if( ( ulInterruptSource & UART_IIR_INTID_THRE ) != 0UL )
	{
		/* The transmit holding register is empty.  Is there any more data
		to send? */
		pxTransferStruct = pxTxTransferControlStructs[ uxUARTNumber ];
		if( pxTransferStruct != NULL )
		{
			switch( diGET_TRANSFER_TYPE_FROM_CONTROL_STRUCT( pxTransferStruct ) )
			{
				case ioctlUSE_ZERO_COPY_TX:

					#if ioconfigUSE_UART_ZERO_COPY_TX == 1
					{
						iouitlsTX_CHARS_FROM_ZERO_COPY_BUFFER_FROM_ISR( pxTransferStruct, ( ( LPC_UART3->FIFOLVL & uartTX_FIFO_LEVEL_MASK ) != uartTX_FIFO_LEVEL_MASK ), ( LPC_UART3->THR = ucChar ), xHigherPriorityTaskWoken );
					}
					#endif /* ioconfigUSE_UART_ZERO_COPY_TX */
					break;


				case ioctlUSE_CHARACTER_QUEUE_TX:

					#if ioconfigUSE_UART_TX_CHAR_QUEUE == 1
					{
						ioutilsTX_CHARS_FROM_QUEUE_FROM_ISR( pxTransferStruct, ( UART_FIFOLVL_TXFIFOLVL( LPC_UART3->FIFOLVL ) != ( UART_TX_FIFO_SIZE - 1 ) ), ( LPC_UART3->THR = ucChar ), xHigherPriorityTaskWoken );
					}
					#endif /* ioconfigUSE_UART_TX_CHAR_QUEUE */
					break;


				default :

					/* This must be an error.  Force an assert. */
					configASSERT( xHigherPriorityTaskWoken );
					break;
			}
		}
	}

	/* The ulReceived parameter is not used by the UART ISR. */
	( void ) ulReceived;

	/* If lHigherPriorityTaskWoken is now equal to pdTRUE, then a context
	switch should be performed before the interrupt exists.  That ensures the
	unblocked (higher priority) task is returned to immediately. */
	portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}

void USART1_IRQHandler (void)//следует разработать систему распознавания старого протокола или заменить на выбор вручную
{
 	static portBASE_TYPE xHigherPriorityTaskWoken;
 	  xHigherPriorityTaskWoken = pdFALSE;

//

 	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
   	{

 		USART_ClearITPendingBit(USART1, USART_IT_RXNE);


   		symbol=USART_ReceiveData (USART1);
   //----------------------обрабатываем возможные ошибки длины кадра-------------
   		if(recieve_count>MAX_LENGTH_REC_BUF)	//если посылка слишком длинная
   		{
   			recieve_count=0x0;
   			return;
   		}

		if(recieve_count==0x0)
		{
			if(symbol==':')//признак старого протокола
			{
				proto_type=PROTO_TYPE_OLD;
			}
			else
			{
				if((symbol==0x0) || (symbol==0xD7))//новый протокол
				{
					proto_type=PROTO_TYPE_NEW;
				}
				else//ошибка кадра или не с начала
				{
					return;
				}
			}
		}
switch(proto_type)
{
	case PROTO_TYPE_OLD:
	{
		if(symbol==':')
		{
			recieve_count=0x0;
		}

		tab.tablo_proto_buf[recieve_count]=symbol;
		recieve_count++;

		if(recieve_count>1)
		{
			if(tab.tablo_proto_buf[1]==(recieve_count-2))//кадр принят
			{
				 USART_ITConfig(USART1, USART_IT_RXNE , DISABLE);
				xSemaphoreGiveFromISR( xProtoSemaphore, &xHigherPriorityTaskWoken );

  				 if( xHigherPriorityTaskWoken != pdFALSE )
  				 {
  					portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
  				 }
			}
		}



	}
	break;

	case PROTO_TYPE_NEW:
	{
	//--------------------------начало кадра...проверка до длины кадра--------
   	    if(recieve_count<6)
   		{
   	    		switch(recieve_count)
   				{
   					case  0:   //первый символ 0
   					{
   	 				 	 if(symbol!=0x00)
   						 {
   	 				 		recieve_count=0;

   	 				 	fr_err++;
   							//return;
   						 }
   					}
   					break;

   					case 1:	 //второй символ 0xD7
   					{
   						 if(symbol!=0xD7)
   						 {
   							recieve_count=0;

   							//return;
   						 }
   					}
   					break;

//.........这里部分代码省略.........

//.........这里部分代码省略.........

		twi_disable_interrupt(twi_port, TWI_IDR_ENDRX);

		/* Wait for RX ready flag */
		while (1) {
			status = twi_port->TWI_SR;
			if (status & TWI_SR_RXRDY) {
				break;
			}
			/* Check timeout condition. */
			if (++timeout_counter >= TWI_TIMEOUT_COUNTER) {
				break;
			}
		}
		/* Complete the transfer. */
		twi_port->TWI_CR = TWI_CR_STOP;
		/* Read second last data */
		twis[twi_index].buffer[(twis[twi_index].length)-2] = twi_port->TWI_RHR;

		/* Wait for RX ready flag */
		while (1) {
			status = twi_port->TWI_SR;
			if (status & TWI_SR_RXRDY) {
				break;
			}
			/* Check timeout condition. */
			if (++timeout_counter >= TWI_TIMEOUT_COUNTER) {
				break;
			}
		}

		if (!(timeout_counter >= TWI_TIMEOUT_COUNTER)) {
			/* Read last data */
			twis[twi_index].buffer[(twis[twi_index].length)-1] = twi_port->TWI_RHR;
			timeout_counter = 0;
			/* Wait for TX complete flag before releasing semaphore */
			while (1) {
				status = twi_port->TWI_SR;
				if (status & TWI_SR_TXCOMP) {
					break;
				}
				/* Check timeout condition. */
				if (++timeout_counter >= TWI_TIMEOUT_COUNTER) {
					transfer_timeout = true;
					break;
				}
			}
		}

		/* If the driver is supporting multi-threading, then return the access
		mutex.  NOTE: As the peripheral is half duplex there is only one
		access mutex, and the reception uses the tx access muted. */
		if (tx_dma_control[twi_index].peripheral_access_mutex != NULL) {
			xSemaphoreGiveFromISR(
					tx_dma_control[twi_index].peripheral_access_mutex,
					&higher_priority_task_woken);
		}

		/* if the receiving task supplied a notification semaphore, then
		notify the task that the transmission has completed. */
		if  (!(timeout_counter >= TWI_TIMEOUT_COUNTER)) {
			if (rx_dma_control[twi_index].transaction_complete_notification_semaphore != NULL) {
				xSemaphoreGiveFromISR(
						rx_dma_control[twi_index].transaction_complete_notification_semaphore,
						&higher_priority_task_woken);
			}
		}
	}

	if (((twi_status & SR_ERROR_INTERRUPTS) != 0) || (transfer_timeout == true)) {
		/* An error occurred in either a transmission or reception.  Abort.
		Stop the transmission, disable interrupts used by the peripheral, and
		ensure the peripheral access mutex is made available to tasks.  As this
		peripheral is half duplex, only the Tx peripheral access mutex exits.*/

		/* Stop the PDC */
		pdc_disable_transfer(all_twi_definitions[twi_index].pdc_base_address, PERIPH_PTCR_TXTDIS | PERIPH_PTCR_RXTDIS);

		if (!(twi_status & TWI_SR_NACK)) {
			/* Do not send stop if NACK received. Handled by hardware */
			twi_port->TWI_CR = TWI_CR_STOP;
		}
		twi_disable_interrupt(twi_port, TWI_IDR_ENDTX);
		twi_disable_interrupt(twi_port, TWI_IDR_ENDRX);

		if (tx_dma_control[twi_index].peripheral_access_mutex != NULL) {
			xSemaphoreGiveFromISR(
					tx_dma_control[twi_index].peripheral_access_mutex,
					&higher_priority_task_woken);
		}
	}

	/* If giving a semaphore caused a task to unblock, and the unblocked task
	has a priority equal to or higher than the currently running task (the task
	this ISR interrupted), then higher_priority_task_woken will have
	automatically been set to pdTRUE within the semaphore function.
	portEND_SWITCHING_ISR() will then ensure that this ISR returns directly to
	the higher priority unblocked task. */
	portEND_SWITCHING_ISR(higher_priority_task_woken);
}