On an interrupt routine I’ll have to use: portSWITCH_CONTEXT as state on the FreeRTOS book:           xQueueSendToBackFromISR( CANopenQueue_handle, &msg, &xHigherPriorityTaskWoken );           if( xHigherPriorityTaskWoken == pdTRUE )     /* NOTE: The actual macro to use to force a context switch from an ISR is                    dependent on the port. This is the correct macro for the Open Watcom DOS                    port. Other ports may require different syntax. Refer to the examples                    provided for the port being used to determine the syntax required. */     portSWITCH_CONTEXT(); As such portSWITCH_CONTEXT is port dependent. I cannot find this function in the port of AT91SAM7S64. I found some function with close names on portasm.s79: portRESTORE_CONTEXT portSAVE_CONTEXT What function should be used to provide the portSWITCH_CONTEXT functionality? thanks

May be you read an old api file, the new function name is portYIELD_FROM_ISR(). It can be used like this: if( xHigherPriorityTaskWoken )     {         portYIELD_FROM_ISR();     } regards.