+ Add CC-RH port for Renesas F1Kx devices. We thank @TrongNguyenR for their contribution. + Add Pointer Authentication (PAC) and Branch Target Identification (BTI) support to the ARMv8-M ports. We thank @AhmedIsmail02 for their contribution. + Add Floating Point Unit (FPU) support to the ARM_AARCH64 port. We thank @StefanBalt for their contribution. + Add FPU Safe Application IRQ Handler suport to the ARM_AARCH64_SRE port. We thank @GhMarwen for their contribution. + Add Privileged eXecute Never MPU attribute support to the ARMv8-M ports. We thank @AhmedIsmail02 for their contribution. + Update XMOS xcore.ai port to be compatible with FreeRTOS Kernel version 11. We thank @ACascarino for their contribution. + ARM_CRx_No_GIC port updates: - Remove inline assembly and move assembly code to separate portASM.S file. - Add support for Floating Point Unit (FPU). - Add support to allow the application writer to handle SVC calls raised from the application code. - Add support for vApplicationFPUSafeIRQHandler. + POSIX port updates: - Set PTHREAD_MUTEX_ROBUST attribute on the mutex to prevent application hangs when a thread dies while holding a mutex. - Avoid calling pthread_sigmask on non-FreeROS threads when vPortEndScheduler is called from a non-FreeRTOS thread. We thank @johnboiles for their contribution. - Remove unnecessary call to pthread_attr_setstacksize. We thank @hollinsky for their contribution. - Add an assert to catch if vPortYield is called from a non-FreeRTOS thread. We thank @johnboiles for their contribution. - Fix Posix port compilation on FreeBSD. We thank @tymmej for their contribution. + Update the Xtensa port and move it to the Partner-Supported-Ports repository. We thank @ianstcdns for their contribution. + Add vPortGenerateSimulatedInterruptFromWindowsThread API in the MSVC-MingW port to enable native windows thread to synchronize with FreeRTOS task through simulated interrupt. + Update Windows port to use Waitable Timer instead of Sleep to improve tick accuracy. We thank @bknicholls and @leegeth for their contribution. + Update the value of queueQUEUE_TYPE_SET to a unique value (5) to allow tracers to differentiate between queues and queue sets. We thank @schilkp for their contribution. + Add traceSTARTING_SCHEDULER tracing hook to enable tracers to run code on startup. We thank @schilkp for their contribution. + Define vApplicationGetTimerTaskMemory only when configUSE_TIMERS is set to 1. We thank @HazardyKnusperkeks for their contribution. + Reset xNextTaskUnblockTime in task notify FromISR APIs to allow the core to enter sleep mode at the earliest possible time when using tickless idle. + Optimize xTaskIncrementTick for SMP by removing xYieldRequiredForCore. We thank @cymizer for their contribution. + Update the SMP scheduler to re-select a core to yield when the core affinity of a ready task is changed. + Update xEventGroupSetBits to read the event bits value to be returned to the caller while the scheduler is suspended. This fixes dereference after the event group is deleted by higher priority task. We thank @skotopes for their contribution. + Optimize certain getter APIs by removing unnecessary calls to task{ENTER|EXIT}_CRITICAL() when the data access is atomic. We thank @GuilhermeGiacomoSimoes for their contribution. + Optimize xTaskNotifyWait and ulTaskNotifyTake APIs to suspend the scheduler only if the task is not already notified, and the caller is willing to wait for the notification. We thank @jefftenney for their contribution. + Fix error checking of prvCreateIdleTasks. We thank @kakkoko for their contribution. + Update SMP lock macros and critical nesting macros to pass core ID as an argument. This reduces the number of accesses to a peripheral register to query core ID. We thank @felixvanoost for their contribution. + Add stack pointer bounds check when configCHECK_FOR_STACK_OVERFLOW is set to 2 to improve reliability of stack overflow detection. We thank @jiladahe1997 for their contribution. + Update run-time stats to include time elapsed since the last context switch for the currently running task. + Add xQueueCreateSetStatic API for static creation of Queue Sets. We thank @kzorer for their contribution. + Update the traceMALLOC() macro to pass the actual size of the allocated block for secure_heap, heap_2, heap_4 and heap_5. We thank @DazzlingOkami for their contribution. + Update heap_1 to use heapADD_WILL_OVERFLOW macro to improve readability. We thank @wdfk-prog for their contribution. + Add pointer protection to the pxNextFreeBlock member of the allocated block's metadata in heap_4 and heap_5 when configENABLE_HEAP_PROTECTOR is set to 1. We thank @Saiiijchan for their contribution. + Allow the application writer to override pointer validation for heap_5 when configENABLE_HEAP_PROTECTOR is used. We thank @Saiiijchan for their contribution. + Add xPortResetHeapMinimumEverFreeHeapSize to heap_4.c and heap_5.c. We thank @TomasGalbickaNXP for their contribution. + Add NULL check in the event_create function in the POSIX port. We thank @laroche for their contribution. + Use _GNU_SOURCE macro instead of __USE_GNU in the Posix port. We thank @maxiaogood for their contribution. + Use the new __ARM_FP macro instead of the deprectred __VFP_FP__ macro in GCC/ARM_CM7, GCC/ARM_CM4_MPU, and GCC/ARM_CM4F ports. We thank @haydenridd for their contribution. + Add portMEMORY_BARRIER definition to the Xtensa port. We thank @superroc for their contribution. + Move the hardware include msp430.h to port.c from portmacro.h. We thank @mayl for their contribution. + Update ARM assembly syntax for Cortex-M ports. We thank @laroche for their contribution. + Update the Windows port to records a pending yield in vPortCloseRunningThread to ensure that the next tick interrupt schedules the next task regardless of the value of configUSE_PREEMPTION. + Fix the context switch issue in the RL78 port. We thank @KeitaKashima for their contribution. + Fix compilation issue in ARM CM0 port when using Keil MDK. We thank @TomasGalbickaNXP for their contribution. + Fix IA32 port compilation when configUSE_COMMON_INTERRUPT_ENTRY_POINT is set to 0. We thank @Ryzee119 for their contribution. + Store configMTIMECMP_BASE_ADDRESS in a 64-bit integer for the RISC-V port. We thank @vishwamartur for their contribution. + Fix nested interrupt handling and optimize FPU related context switching for the F1Kx port. We thank @TrongNguyenR for their contribution. + Update the RP2040 port to add support for Raspberry Pi Pico SDK 2.0.0. We thank @kilograham for their contribution. + Fix the return value of portYIELD_FROM_ISR macro for the MSVC-MingW port. We thank @wwhheerree for their contribution. + Optimize vApplicationFPUSafeIRQHandler for the Coretex-A9 port by removing the unnecessarily preserved callee saved registers. We thank @Saiiijchan for their contribution. + Fix the context array size for MPU ports to ensure the saved context location falls within the reserved context area rather than overlapping with the next MPU_SETTINGS structure member. + Update CMake files for RP2040 port to fetch the port from the Community-Supported-Ports repo. We thank @kilograham for their contribution. + Fix CMake file for the GCC ARM_CM0 port to include MPU files. We thank @0mhu for their contribution. + Add an example of human readable table generated by vTaskListTasks() in the function documentation. We thank @wwhheerree for their contribution. 

+ Add ARMv7-R port with Memory Protection Unit (MPU) support. + Add Memory Protection Unit (MPU) support to the Cortex-M0 port. + Add stream batching buffer. A stream batching buffer differs from a stream buffer when a task reads from a non-empty buffer: - The task reading from a non-empty stream buffer returns immediately regardless of the amount of data in the buffer. - The task reading from a non-empty steam batching buffer blocks until the amount of data in the buffer exceeds the trigger level or the block time expires. We thank @cperkulator for their contribution. + Add the ability to change task notification index for stream buffers. We thank @glemco for their contribution. + Add xStreamBufferResetFromISR and xMessageBufferResetFromISR APIs to reset stream buffer and message buffer from an Interrupt Service Routine (ISR). We thank @HagaiMoshe for their contribution. + Update all the FreeRTOS APIs to use configSTACK_DEPTH_TYPE for stack type. We thank @feilipu for their contribution. + Update vTaskEndScheduler to delete the timer and idle tasks, once the scheduler is stopped. + Make xTaskGetCurrentTaskHandleForCore() available to the single core scheduler. We thank @Dazza0 for their contribution. + Update uxTaskGetSystemState to not use the pxIndex member of the List_t structure while iterating ready tasks list. The reason is that pxIndex member must only used to select next ready task to run. We thank @gemarcano for their inputs. + Add a config option to the FreeRTOS SMP Kernel to set the default core affinity mask for tasks created without an affinity mask. We thank @go2sh for their contribution. + Add configUSE_EVENT_GROUPS and configUSE_STREAM_BUFFERS configuration constants to control the inclusion of event group and stream buffer functionalities. + Code changes to comply with MISRA C 2012. + Add 64-bit support to the FreeRTOS Windows Simulator port. We thank @watsk and @josesimoes for their contributions. + Add support for 64-bit Microblaze processor to the MicroblazeV9 port. We thank @mubinsyed for their contribution. + Add support for MSP430 Embedded Application Binary Interface (EABI) to the MSP430F449 port to make it work with both MSP430 GCC and MSPGCC compilers. We thank @Forty-Bot for their contribution. + Update xPortIsAuthorizedToAccessBuffer() on FreeRTOS ports with MPU support to grant an unprivileged task access to all the memory before the scheduler is started. + Update the POSIX port to pass the FreeRTOS task name to pthread for readable output in debuggers. We thank @Mixaill for their contribution. + Update the POSIX port to ignore the user specified stack memory and only pass the stack size to the pthread API to avoid errors caused when stack size is smaller than the minimum. We thank @cmorgnaBE for their contribution. + Update the POSIX port to use a timer thread for tick interrupts instead of POSIX timers to address issues with signal handling in non-FreeRTOS pthreads. We thank @cmorgnaBE for their contribution. + Update ARM_TFM port to support TF-Mv2.0.0 release of trusted-firmware-m. We thanks @urutva for their contribution. + Remove redundant constant pools in ARMv8 ports. We thank @urutva for their contribution. + Add APIs to reset the internal state of kernel modules. These APIs are primarily intended to be used in the testing frameworks that restart the scheduler. + Use kernel provided implementations of vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory() in the RP2040 port. We thank @dpslwk for their contribution. + Fix atomic enter/exit critical section macro definitions in atomic.h for ports that support nested interrupts. We thank @sebunger for their contribution. + Fix compiler warnings in the MSP430F449 port when compiled with the MSP430 GCC compiler. We thank @Forty-Bot for their contribution. + Update the scheduler suspension usage in ulTaskGenericNotifyTake and xTaskGenericNotifyWait() to enhance code readability. We thank @Dazza0 for their contribution. + Add support for latest version of MPU wrappers( mpu_wrappers_v2) in CMake. We thank @IsaacDynamo for their contribution. + Update CMake support to create only one static library containing both the kernel common code and the kernel port code. We thank @barnatahmed for their contribution. 

+ Updated the SBOM file. 

+ SMP merged into the mainline: While FreeRTOS introduced Asymmetric Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the first to merge Symmetric Multiprocessing (SMP) support into the mainline release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks across multiple identical processor cores. We thank Mike Bruno and Jerry McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of Espressif Systems for their contributions. + Switch MISRA compliance checking from PC Lint to Coverity, and update from MISRA C:2004 to MISRA C:2012. + Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of each configuration item. Application writers can use this template as a starting point to create the FreeRTOSConfig.h file for their application. + Add a template FreeRTOS port which can be used as a starting point for developing a new FreeRTOS port. + Add bounds checking and obfuscation to internal heap block pointers in heap_4.c and heap_5.c to help catch pointer corruptions. The application can enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their FreeRTOSConfig.h. We thank @oliverlavery for their contribution. + Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf with snprintf. + Add trace macros to ports that enable tracing the interaction of ISRs with scheduler events. We thank @conara for their contribution. + Add trace macros that enable tracing of entering and exiting all APIs. We thank @Techcore123 for their contribution. + Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the base priority of a task. The base priority of a task is the priority that was last assigned to the task - which due to priority inheritance, may not be the current priority of the task. + Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in milliseconds. We thank @Dazza0 for their contribution. + Add default implementations of vApplicationGetIdleTaskMemory and vApplicationGetTimerTaskMemory. The application can enable these default implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their FreeRTOSConfig.h. We thank @mdnr-g for their contribution. + Update vTaskGetInfo to include start and end of the stack whenever both values are available. We thank @vinceburns for their contribution. + Prevent tasks waiting for a notification from being resumed by calls to vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their contribution. + Add asserts to validate that the application has correctly installed FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices. We thank @jefftenney for their contribution. + Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64 architecture. We thank @urutva for their contribution. + Add CMake support to allow the application writer to select the RISC-V chip extension. We thank @JoeBenczarski for their contribution. + Add CMake support to allow the application writer to build an application with static allocation only. We thank @conara for their contribution. + Make taskYIELD available to unprivileged tasks for ARMv8-M ports. + Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their contribution. + Update the SysTick setup code for ARMv8-M ports to first configure the clock source and then enable SysTick. This is needed to address a bug in QEMU versions older than 7.0.0, which causes an emulation error if SysTick is enabled without first selecting a valid clock source. We thank @jefftenney for their contribution. + Add the port-optimized task selection algorithm optionally available for ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their contribution. + Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing unnecessary steps while splitting a large memory block into two. We thank @Moral-Hao for their contribution. + Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and heap_5.c by moving the size calculation out of the critical section. We thank @Moral-Hao for their contribution. + Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic operation of traversing a linked link from a critical section. We thank @karver8 for their contribution. + Fix stack end and stack size computation in POSIX port to meet the stack alignment requirements on MacOS. We thank @tegimeki for their contribution. + Update the vTaskPrioritySet implementation to use the new priority when the task has inherited priority from a mutex it is holding, and the new priority is bigger than the inherited priority. We thank @Moral-Hao for their contribution. + Add stack alignment adjustment if stack grows upwards. We thank @ivq for their contribution. + Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is selected as the C library implementation to ensure that pxPortInitialiseStack does not overwrite the data in the TLS block portion of the stack. We thank @bebebib-rs for their contribution. + Fix vPortEndScheduler() for the MSVC port so that the function prvProcessSimulatedInterrupts is not stuck in an infinite loop when the scheduler is stopped. We thank @Ju1He1 for their contribution. + Add the Pull Request (PR) Process explaining the stages a PR goes through. 

+ Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c) introduced in version 10.6.0: - Introduce Access Control List (ACL) feature to allow the application writer to control an unprivileged task’s access to kernel objects. - Update the system call entry mechanism to only require one Supervisor Call (SVC) instruction. - Wrap parameters for system calls with more than four parameters in a struct to avoid special handling during system call entry. - Fix 2 possible integer overflows. - Convert some asserts to run time parameter checks. 

+ Add runtime parameter checks to functions in mpu_wrappers_v2.c file. The same checks are already performed in API implementations using asserts. We thank the following people for their inputs in these changes: - Lan Luo, Zixia Liu of School of Computer Science and Technology, Anhui University of Technology, China. - Xinwen Fu of Department of Computer Science, University of Massachusetts Lowell, USA. - Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of Computer Science and Engineering, Southeast University, China. 

+ Add a new MPU wrapper that places additional restrictions on unprivileged tasks. The following is the list of changes introduced with the new MPU wrapper: 1. Opaque and indirectly verifiable integers for kernel object handles: All the kernel object handles (for example, queue handles) are now opaque integers. Previously object handles were raw pointers. 2. Save the task context in Task Control Block (TCB): When a task is swapped out by the scheduler, the task's context is now saved in its TCB. Previously the task's context was saved on its stack. 3. Execute system calls on a separate privileged only stack: FreeRTOS system calls, which execute with elevated privilege, now use a separate privileged only stack. Previously system calls used the calling task's stack. The application writer can control the size of the system call stack using new configSYSTEM_CALL_STACK_SIZE config macro. 4. Memory bounds checks: FreeRTOS system calls which accept a pointer and de-reference it, now verify that the calling task has required permissions to access the memory location referenced by the pointer. 5. System calls restrictions: The following system calls are no longer available to unprivileged tasks: - vQueueDelete - xQueueCreateMutex - xQueueCreateMutexStatic - xQueueCreateCountingSemaphore - xQueueCreateCountingSemaphoreStatic - xQueueGenericCreate - xQueueGenericCreateStatic - xQueueCreateSet - xQueueRemoveFromSet - xQueueGenericReset - xTaskCreate - xTaskCreateStatic - vTaskDelete - vTaskPrioritySet - vTaskSuspendAll - xTaskResumeAll - xTaskGetHandle - xTaskCallApplicationTaskHook - vTaskList - vTaskGetRunTimeStats - xTaskCatchUpTicks - xEventGroupCreate - xEventGroupCreateStatic - vEventGroupDelete - xStreamBufferGenericCreate - xStreamBufferGenericCreateStatic - vStreamBufferDelete - xStreamBufferReset Also, an unprivileged task can no longer use vTaskSuspend to suspend any task other than itself. We thank the following people for their inputs in these enhancements: - David Reiss of Meta Platforms, Inc. - Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling of School of Computer Science and Engineering, Southeast University, China. - Xinwen Fu of Department of Computer Science, University of Massachusetts Lowell, USA. - Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of Colorado Boulder, USA. + Add Cortex-M35P port. Contributed by @urutva. + Add embedded extension (RV32E) support to the IAR RISC-V port. + Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by @chrisnc. + Add APIs to get the application supplied buffers from statically created kernel objects. The following new APIs are added: - xTaskGetStaticBuffers - xQueueGetStaticBuffers - xQueueGenericGetStaticBuffers - xSemaphoreGetStaticBuffer - xEventGroupGetStaticBuffer - xStreamBufferGetStaticBuffers - xMessageBufferGetStaticBuffers These APIs enable the application writer to obtain static buffers from the kernel object and free/reuse them at the time of deletion. Earlier the application writer had to maintain the association of static buffers and the kernel object in the application. Contributed by @Dazza0. + Add Thread Local Storage (TLS) support using picolibc function. Contributed by @keith-packard. + Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result, the number of bits in an event group also increases with big data type. Contributed by @Hadatko. + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready tasks. Contributed by @Dazza0. + Update heap_4 and heap_5 to add padding only if the resulting block is not already aligned. + Fix the scheduler logic in a couple of places to not preempt a task when an equal priority task becomes ready. + Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden. + Fix clang compiler warnings. Contributed by @phelter. + Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY. Contributed by @urutva. + Add xPortIsInsideInterrupt API to ARM_CM0 ports. + Fix build warning in MSP430X port when large data model is used. + Add the ability to use Cortex-R5 port on the parts without FPU. + Fix build warning in heap implementations on PIC24/dsPIC. + Update interrupt priority asserts for Cortex-M ports so that these do not fire on QEMU which does not implement PRIO bits. + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority. configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc. + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed by @jacky309. + Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain. + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu. + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate. 

+ ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that already independently gained the ability to execute injected code to read from or write to arbitrary addresses by passing a negative argument as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or vTaskSetThreadLocalStoragePointer respectively. A check has been added to ensure that passing a negative argument as the xIndex parameter does not cause arbitrary read or write. We thank Certibit Consulting, LLC for reporting this issue. + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task to invoke any function with privilege by passing it as a parameter to MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate, MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate and MPU_xTaskCreateStatic have been updated to only allow creation of unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and MPU_xTimerPendFunctionCall APIs have been removed. We thank Huazhong University of Science and Technology for reporting this issue. + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that already independently gained the ability to execute injected code to achieve further privilege escalation by branching directly inside a FreeRTOS MPU API wrapper function with a manually crafted stack frame. The local stack variable `xRunningPrivileged` has been removed so that a manually crafted stack frame cannot be used for privilege escalation by branching directly inside a FreeRTOS MPU API wrapper. We thank Certibit Consulting, LLC, Huazhong University of Science and Technology and the SecLab team at Northeastern University for reporting this issue. + ARMv7-M MPU ports: It was possible to configure overlapping memory protection unit (MPU) regions such that an unprivileged task could access privileged data. The kernel now uses highest numbered MPU regions for kernel protections to prevent such MPU configurations. We thank the SecLab team at Northeastern University for reporting this issue. + Add support for ARM Cortex-M55. + Add support for ARM Cortex-M85. Contributed by @gbrtth. + Add vectored mode interrupt support to the RISC-V port. + Add support for RV32E extension (Embedded Profile) in RISC-V GCC port. Contributed by @Limoto. + Heap improvements: - Add a check to heap_2 to track if a memory block is allocated to the application or not. The MSB of the size field is used for this purpose. The same check already exists in heap_4 and heap_5. This check prevents double free errors. - Add a new flag configHEAP_CLEAR_MEMORY_ON_FREE to heap_2, heap_4 and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using vPortFree() is automatically cleared to zero. - Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same signature as the standard library calloc function. - Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by @Octaviarius. + Add the ability to override send and receive completed callbacks for each instance of a stream buffer or message buffer. Earlier there could be one send and one receive callback for all instances of stream and message buffers. Having separate callbacks per instance allows different message and stream buffers to be used differently - for example, some for inter core communication and others for same core communication. The feature can be controlled by setting the configuration option configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1, APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback() (and likewise APIs for message buffer) can be used to create a stream buffer or message buffer instance with application provided callback overrides. When the option is set to 0, then the default callbacks as defined by sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The functionality is currently not supported for MPU enabled ports. + Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it is not tied to newlib and can be used with other c-runtime libraries also. The default behavior for newlib support is kept same for backward compatibility. + Add support to build and link FreeRTOS using CMake build system. Contributed by @yhsb2k. + Add support to generate Software Bill of Materials (SBOM) for every release. + Add support for 16 MPU regions to the GCC Cortex-M33 ports. + Add ARM Cortex-M7 r0p0/r0p1 Errata 837070 workaround to ARM CM4 MPU ports. The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND when using CM4 MPU ports on a Cortex-M7 r0p0/r0p1 core. + Add configSYSTICK_CLOCK_HZ to Cortex-M0 ports. This is needed to support the case when the SysTick timer is not clocked from the same source as the CPU. + Add hardware stack protection support to MicroBlazeV9 port. This ensures that the CPU immediately raises Stack Protection Violation exception as soon as any task violates its stack limits. Contributed by @uecasm. + Introduce the configUSE_MINI_LIST_ITEM configuration option. When this option is set to 1, ListItem_t and MiniLitItem_t remain separate types. However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t are both typedefs of the same struct xLIST_ITEM. This addresses some issues observed when strict-aliasing and link time optimization are enabled. To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1. + Simplify prvInitialiseNewTask to memset newly allocated TCB structures to zero, and remove code that set individual structure members to zero. + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds without any warning with -Wmissing-prototypes compiler option. + Add top of stack and end of stack to the task info report obtained using vTaskGetInfo(). Contributed by @shreyasbharath. + Add a cap to the cRxLock and cTxLock members of the queue data structure. These locks count the number items received and sent to the queue while the queue was locked. These are later used to unblock tasks waiting on the queue when the queue is unlocked. This PR caps the values of the cRxLock and cTxLock to the number of tasks in the system because we cannot unblock more tasks than there are in the system. Note that the same assert could still be triggered is the application creates more than 127 tasks. + Changed uxAutoReload parameter in timer functions to xAutoReload. The type is now BaseType_t. This matches the type of pdTRUE and pdFALSE. The new function xTimerGetAutoReload() provides the auto-reload state as a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the original UBaseType_t return value. + Fix support for user implementations of tickless idle that call vTaskStepTick() with xExpectedIdleTime ticks to step. The new code ensures xTickCount reaches xNextTaskUnblockTime inside xTaskIncrementTick() instead of inside vTaskStepTick(). This fixes the typical case where a task wakes up one tick late and a rare case assertion failure when xTickCount\ rolls over. Contributed by @jefftenney. + Fix deadlock in event groups when pvPortMalloc and vPortFree functions are protected with a mutex. Contributed by @clemenskresser. + Fix a warning in tasks.c when compiled with -Wduplicated-branches GCC option. Contributed by @pierrenoel-bouteville-act. + Fix compilation error in tasks.c when configSUPPORT_DYNAMIC_ALLOCATION is set to zero. Contributed by @rdpoor. + Fix prvWriteMessageToBuffer() function in stream_buffer.c so that it correctly copies length on big endian platforms too. + Remove the need for INCLUDE_vTaskSuspend to be set to 1 when configUSE_TICKLESS_IDLE is enabled. Contributed by @pramithkv. + Update the RL78 IAR port to the latest version of IAR which uses the industry standard ELF format as opposed to earlier UBROF object format. Contributed by @felipe-iar. + Add tick type is atomic flag when tick count is 16-bit to PIC24 port. This allows the PIC24 family of 16 bit processors to read the tick count without a critical section when the tick count is also 16 bits. + Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when Link Time Optimization is enabled. Contributed by @niniemann. + Remove #error when RISC-V port is compiled on a 64-bit RISC-V platform. Contributed by @cmdrf. + Fix ullPortInterruptNesting alignment in Cortex-A53 port so that it is 8-byte aligned. This fixes the unaligned access exception. Contributed by @Atomar25. + Fix Interrupt Handler Register Function and Exception Process in NiosII Port. Contributed by @ghost. + Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore interrupt acknowledge register. This ensures that the SRE port behavior matches the Memory Mapped IO port. Contributed by @sviaunxp. + Update the uncrustify config file to match the version of the uncrustify used in the CI Action. Also, pin the version of uncrustify in CI. Contributed by @swaldhoer. 

+ ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that already independently gained the ability to execute injected code to read from or write to arbitrary addresses by passing a negative argument as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or vTaskSetThreadLocalStoragePointer respectively. A check has been added to ensure that passing a negative argument as the xIndex parameter does not cause arbitrary read or write. We thank Certibit Consulting, LLC for reporting this issue. + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task to invoke any function with privilege by passing it as a parameter to MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate, MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate and MPU_xTaskCreateStatic have been updated to only allow creation of unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and MPU_xTimerPendFunctionCall APIs have been removed. We thank Huazhong University of Science and Technology for reporting this issue. + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that already independently gained the ability to execute injected code to achieve further privilege escalation by branching directly inside a FreeRTOS MPU API wrapper function with a manually crafted stack frame. The local stack variable `xRunningPrivileged` has been removed so that a manually crafted stack frame cannot be used for privilege escalation by branching directly inside a FreeRTOS MPU API wrapper. We thank Certibit Consulting, LLC, Huazhong University of Science and Technology and the SecLab team at Northeastern University for reporting this issue. + ARMv7-M MPU ports: It was possible to configure overlapping memory protection unit (MPU) regions such that an unprivileged task could access privileged data. The kernel now uses highest numbered MPU regions for kernel protections to prevent such MPU configurations. We thank the SecLab team at Northeastern University for reporting this issue.