Control loop runs on 8K while freertos runs on 1K, how does this work?

I missed a problem about the control algorithm. As I see, control loop runs on 8K same as current measurement frequency, since a semaphone is used to trim the control loop thread. However, the freertos’ systick is 1KHz, how can it answer a 8K signal?

Any help would be greatly honored!

Answered in discord, but for posterity: it is possible to ask for immediate context switches, for example on interrupt. ODrive releases a semaphore and requests a context switch at specific times in the PWM cycle, based on the ADC interrupt