These changes provide a fully preemptible kernel, threaded interrupt handlers, high-resolution timers, priority inheritance, and robust mutexes.

这些更改提供了完全抢占式内核、线程中断处理程序、高分辨率计时器、优先级继承和健壮的互斥锁（mutex）。

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If high priority interrupts are not disabled during low priority interrupts, users must save the key registers in software during a low priority interrupt.

如果在响应低优先级中断时高优先级中断使能，用户必须在低优先级中断响应程序中保存那些关键的寄存器值。

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