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Prior to this patch there was a large latency for executing scheduled callbacks when when Python code is sleeping: at the heart of the implementation of sleep_ms() is a call to vTaskDelay(1), which always sleeps for one 100Hz tick, before performing another call to MICROPY_EVENT_POLL_HOOK. This patch fixes this issue by using FreeRTOS Task Notifications to signal the main thread that a new callback is pending.