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Changes to core code and port layer:
+ Add configASSERT() into ARM Cortex-M ports to check the number of priority bit settings. + Clear the 'control' register before starting ARM Cortex-M4F ports in case the FPU is used before the scheduler is started. This just saves a few bytes on the main stack as it prevents space being left for a later save of FPU registers. + Added xSemaphoreGetMutexHolderFromISR(). + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports.
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