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When a FreeRTOS function unblocks a task, that function will check whether the unblocked task requires a yield to be called. This is currently done by having each function individually check if the unblocked task has a higher priority than the both cores, and yielding the appropriate core. This commit adds the macros list below to abstract away the yielding checking procedure. This will allow the code to match upstream more closely. - prvCheckForYield() - prvCheckForYieldUsingPriority()