Update to latest FreeRTOS main, not SMP branch (#2250)

FreeRTOS has merged the SMP branch into its main, so move to that and
adjust the core accordingly.  V11.1.0 + several minor edits.

FreeRTOS-Kernel @ 6a303231

-Subproject commit e1d1aab5c0e0addd2950ddfb78711a96461c2dcf
+Subproject commit 6a303231eceaec08a26a7e534800ba4010cec58d

libraries/FreeRTOS/src/FreeRTOSConfig.h

-#define configNUM_CORES               2
-#define configUSE_CORE_AFFINITY       1
-#define configRUN_MULTIPLE_PRIORITIES 1
+#define configNUMBER_OF_CORES             2
+#define configUSE_CORE_AFFINITY           1
+#define configRUN_MULTIPLE_PRIORITIES     1
 
 #define configUSE_PREEMPTION              1
 #define configUSE_IDLE_HOOK               1
-#define configUSE_MINIMAL_IDLE_HOOK       1
+#define configUSE_PASSIVE_IDLE_HOOK       1
 #define configUSE_TICK_HOOK               1
 #define configCPU_CLOCK_HZ                ( ( unsigned long ) F_CPU  )
 #define configTICK_RATE_HZ                ( ( TickType_t ) 1000 )
@@ -38,7 +38,7 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 #define portGET_RUN_TIME_COUNTER_VALUE() ulMainGetRunTimeCounterValue()
 
 /* Co-routine definitions. */
-#define configUSE_CO_ROUTINES           1
+#define configUSE_CO_ROUTINES           0
 #define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
 
 /* Software timer definitions. */
@@ -99,7 +99,14 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
     See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
 
-extern void rtosFatalError(void);
+#ifdef __cplusplus
+extern "C" {
+#endif
+void rtosFatalError(void);
+#ifdef __cplusplus
+};
+#endif
+
 #define configASSERT( x ) \
 	if( ( x ) == 0 ) { portDISABLE_INTERRUPTS(); rtosFatalError(); }
 
@@ -107,4 +114,6 @@ extern void rtosFatalError(void);
 #define configSUPPORT_PICO_SYNC_INTEROP      1
 #define configSUPPORT_PICO_TIME_INTEROP      1
 
+#define LIB_PICO_MULTICORE 1
+
 #include "rp2040_config.h"

libraries/FreeRTOS/src/idle_task_static_memory.c

-#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/idle_task_static_memory.c"

libraries/FreeRTOS/src/tasks.c

 #include "../lib/FreeRTOS-Kernel/tasks.c"
 
-//See https://github.com/FreeRTOS/FreeRTOS-Kernel/pull/496
+// See https://github.com/FreeRTOS/FreeRTOS-Kernel/pull/496
 struct _reent* __wrap___getreent(void) {
     // No lock needed because if this changes, we won't be running anymore.
     TCB_t *pxCurTask = xTaskGetCurrentTaskHandle();
@@ -9,6 +9,6 @@ struct _reent* __wrap___getreent(void) {
         return _GLOBAL_REENT;
     } else {
         // We have a task; return its reentrant struct.
-        return &pxCurTask->xNewLib_reent;
+        return &pxCurTask->xTLSBlock;
     }
 }

libraries/FreeRTOS/src/variantHooks.cpp

@@ -258,7 +258,7 @@ void vApplicationIdleHook(void) {
 #endif /* configUSE_IDLE_HOOK == 1 */
 /*-----------------------------------------------------------*/
 
-#if ( configUSE_MINIMAL_IDLE_HOOK == 1 )
+//#if ( configUSE_MINIMAL_IDLE_HOOK == 1 )
 /*
     Call the user defined minimalIdle() function from within the idle task.
     This allows the application designer to add background functionality
@@ -267,17 +267,17 @@ void vApplicationIdleHook(void) {
     NOTE: vApplicationMinimalIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, CALL A FUNCTION THAT MIGHT BLOCK.
 
 */
-void minimalIdle(void) __attribute__((weak));
-void minimalIdle() {} //Empty minimalIdle function
+void passiveIdle(void) __attribute__((weak));
+void passiveIdle() {} //Empty minimalIdle function
 
 extern "C"
-void vApplicationMinimalIdleHook(void) __attribute__((weak));
+//void vApplicationPassiveIdleHook(void) __attribute__((weak));
 
-void vApplicationMinimalIdleHook(void) {
-    minimalIdle();
+void vApplicationPassiveIdleHook(void) {
+    passiveIdle();
 }
 
-#endif /* configUSE_MINIMAL_IDLE_HOOK == 1 */
+//#endif /* configUSE_MINIMAL_IDLE_HOOK == 1 */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TICK_HOOK == 1 )
@@ -394,6 +394,22 @@ void vApplicationStackOverflowHook(TaskHandle_t xTask __attribute__((unused)),
 #endif /* configCHECK_FOR_STACK_OVERFLOW >= 1 */
 /*-----------------------------------------------------------*/
 
+
+
+extern "C" void vApplicationGetPassiveIdleTaskMemory(StaticTask_t ** ppxIdleTaskTCBBuffer,
+        StackType_t ** ppxIdleTaskStackBuffer,
+        configSTACK_DEPTH_TYPE * puxIdleTaskStackSize,
+        BaseType_t xPassiveIdleTaskIndex) {
+    static StaticTask_t xIdleTaskTCBs[ configNUMBER_OF_CORES ];
+    static StackType_t uxIdleTaskStacks[ configNUMBER_OF_CORES ][ configMINIMAL_STACK_SIZE ];
+
+    *ppxIdleTaskTCBBuffer = &(xIdleTaskTCBs[ xPassiveIdleTaskIndex ]);
+    *ppxIdleTaskStackBuffer = &(uxIdleTaskStacks[ xPassiveIdleTaskIndex ][ 0 ]);
+    *puxIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}
+
+
+
 #if ( configSUPPORT_STATIC_ALLOCATION >= 1 )
 
 extern "C"