Using MLA with freeRTOS® on dsPIC33EP - Tips and Tricks

When using MLA and freeRTOS® on a PIC24EP512GU810, the following steps should be taken:

  1. Make all interrupt service routines (ISRs) MANDATORY, which can cause context switch with the same priority, similar to the RTOS tick timer.
  2. Remove all interrupt enable/disable operators inside the ISRs.
  3. Remove the taskYIELD() operator and force context switch inside the vApplicationTickHook(void) callback function. The context switch will be made automatically by the scheduler which is called by the RTOS tick.
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