From 4d8aca8417f722ab6fcf15f3defd73652cc0a18a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Apr 2020 13:32:40 +0200
Subject: [PATCH] message queue adaptation for ISRs

---
 osal/FreeRTOS/MessageQueue.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 3546a99b..6082bb15 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -124,6 +124,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                 reinterpret_cast<const void*>(message->getBuffer()), 0);
     }
     else {
+        // If the call context is from an interrupt,
+        // request a context switch if a higher priority task
+        // was blocked by the interrupt.
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
         result = xQueueSendFromISR(reinterpret_cast<void*>(sendTo),
                 reinterpret_cast<const void*>(message->getBuffer()),