chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config

- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h)
- Update FreeRTOS kernel, port, and headers to match v2 integration
- Remove unused heap implementations, keep heap_4
- Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt)
- Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c
- Update application modules (master_machine, dmmotor)
- Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support

Drivers/CMSIS/RTOS2/Include/cmsis_os2.h

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013-2018 Arm Limited. All rights reserved.
+ * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -17,7 +17,7 @@
  *
  * ----------------------------------------------------------------------
  *
- * $Date:        18. June 2018
+ * $Date:        12. June 2020
  * $Revision:    V2.1.3
  *
  * Project:      CMSIS-RTOS2 API
@@ -86,7 +86,7 @@ typedef enum {
   osKernelLocked          =  3,         ///< Locked.
   osKernelSuspended       =  4,         ///< Suspended.
   osKernelError           = -1,         ///< Error.
-  osKernelReserved        = 0x7FFFFFFFU ///< Prevents enum down-size compiler optimization.
+  osKernelReserved        = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
 } osKernelState_t;
  
 /// Thread state.
@@ -723,7 +723,7 @@ osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *
 /// \return maximum number of messages.
 uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id);
  
-/// Get maximum message size in a Memory Pool.
+/// Get maximum message size in a Message Queue.
 /// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
 /// \return maximum message size in bytes.
 uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id);

Drivers/CMSIS/RTOS2/Include/os_tick.h

@@ -1,11 +1,11 @@
 /**************************************************************************//**
  * @file     os_tick.h
  * @brief    CMSIS OS Tick header file
- * @version  V1.0.1
- * @date     24. November 2017
+ * @version  V1.0.2
+ * @date     19. March 2021
  ******************************************************************************/
 /*
- * Copyright (c) 2017-2017 ARM Limited. All rights reserved.
+ * Copyright (c) 2017-2021 ARM Limited. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -27,6 +27,11 @@
 
 #include <stdint.h>
 
+#ifdef  __cplusplus
+extern "C"
+{
+#endif
+
 /// IRQ Handler.
 #ifndef IRQHANDLER_T
 #define IRQHANDLER_T
@@ -68,4 +73,8 @@ uint32_t OS_Tick_GetCount (void);
 /// \return OS Tick overflow status (1 - overflow, 0 - no overflow).
 uint32_t OS_Tick_GetOverflow (void);
 
+#ifdef  __cplusplus
+}
+#endif
+
 #endif  /* OS_TICK_H */