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"With an RTOS application it is best to design the interrupt service code as a thread within the RTOS and assign it a high priority. While it is possible to run C code in an interrupt service routine (ISR), this is not desirable within an RTOS if the interrupt code is going to run for more than a short period of time. This delays the timer tick and disrupts the RTOS kernel." - Extract from “The Designers Guide to the Cortex-M Processor Family” by Trevor Martin