Bug fix for SysTick handler (did not care when taskp is null) and PendSV is issued by SVC only when it is necessary to select another task.
Bug fix for SysTick handler (did not care when taskp is null) and PendSV is issued by SVC only when it is necessary to select another task.

tanakahx/uros,tanakahx/uros,tanakahx/uros