diff --git a/.github/workflows/kernel-demos.yml b/.github/workflows/kernel-demos.yml
index 94d5c73e2..404c602b5 100644
--- a/.github/workflows/kernel-demos.yml
+++ b/.github/workflows/kernel-demos.yml
@@ -150,16 +150,25 @@ jobs:
         with:
           path: ./FreeRTOS/Source
 
-      - name: Install MSP430 Toolchain
+      - env:
+          stepName: Install MSP430 Toolchain
         shell: bash
         run: |
-          sudo apt-get -y update
-          sudo apt-get -y install gcc-msp430 build-essential
+          # ${{ env.stepName }}
+          echo -e "::group::${{ env.bashInfo }} ${{ env.stepName }} ${{ env.bashEnd }}"
+          curl -L -O https://dr-download.ti.com/software-development/ide-configuration-compiler-or-debugger/MD-LlCjWuAbzH/9.3.1.2/msp430-gcc-full-linux-x64-installer-9.3.1.2.7z
+          sudo apt update -y
+          sudo apt install -y p7zip-full
+          7z x ./msp430-gcc-full-linux-x64-installer-9.3.1.2.7z
+          chmod +x ./msp430-gcc-full-linux-x64-installer-9.3.1.2.run
+          sudo ./msp430-gcc-full-linux-x64-installer-9.3.1.2.run --prefix /usr/bin/msp430-gcc --mode unattended
+          echo "::endgroup::"
+          echo -e "${{ env.bashPass }} ${{ env.stepName }} ${{ env.bashEnd }}"
 
       - name: Build msp430_GCC Demo
         shell: bash
         working-directory: FreeRTOS/Demo/msp430_GCC
-        run: make -j
+        run: make -j CC=/usr/bin/msp430-gcc/bin/msp430-elf-gcc OPT="-Os -I/usr/bin/msp430-gcc/include -L/usr/bin/msp430-gcc/include"
 
   MicroBlaze-GCC:
     name: GCC MicroBlaze Toolchain
@@ -259,12 +268,12 @@ jobs:
           fetch-depth: 1
 
       - env:
-          stepName: Fetch Community-Supported-Demos Submodule
+          stepName: Fetch Dependencies
         shell: bash
         run: |
           # ${{ env.stepName }}
           echo -e "::group::${{ env.bashInfo }} ${{ env.stepName }} ${{ env.bashEnd }}"
-          git submodule update --checkout --init --depth 1 FreeRTOS/Demo/ThirdParty/Community-Supported-Demos
+          git submodule update --checkout --init --depth 1 FreeRTOS/Demo/ThirdParty/Community-Supported-Demos FreeRTOS-Plus/Source/FreeRTOS-Plus-Trace
           echo -e "${{ env.bashPass }} ${{ env.stepName }} ${{ env.bashEnd }}"
 
       # Checkout user pull request changes
diff --git a/MISRA.md b/MISRA.md
index 4355ec678..b5941037f 100644
--- a/MISRA.md
+++ b/MISRA.md
@@ -115,6 +115,25 @@ _Ref 11.5.5_
    because data storage buffers are implemented as uint8_t arrays for the
    ease of sizing, alignment and access.
 
+#### Rule 14.3
+
+MISRA C-2012 Rule 14.3: Controlling expressions shall not be invariant.
+
+_Ref 14.3_
+ - The `configMAX_TASK_NAME_LEN` and `taskRESERVED_TASK_NAME_LENGTH` are
+   evaluated to constants at compile time and may vary based on the build
+   configuration.
+
+#### Rule 18.1
+
+MISRA C-2012 Rule 18.1: A pointer resulting from arithmetic on a pointer operand
+shall address an element of the same array as that pointer operand.
+
+_Ref 18.1_
+ - Array access remains within bounds since either the null terminator in
+   the IDLE task name will break the loop, or the loop will break normally
+   if the array size is smaller than the IDLE task name length.
+
 #### Rule 21.6
 
 MISRA C-2012 Rule 21.6: The Standard Library input/output functions shall not
diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index dfccccb40..ce8530e7d 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -1484,6 +1484,14 @@
     #define traceRETURN_xQueueCreateSet( pxQueue )
 #endif
 
+#ifndef traceENTER_xQueueCreateSetStatic
+    #define traceENTER_xQueueCreateSetStatic( uxEventQueueLength )
+#endif
+
+#ifndef traceRETURN_xQueueCreateSetStatic
+    #define traceRETURN_xQueueCreateSetStatic( pxQueue )
+#endif
+
 #ifndef traceENTER_xQueueAddToSet
     #define traceENTER_xQueueAddToSet( xQueueOrSemaphore, xQueueSet )
 #endif
diff --git a/include/message_buffer.h b/include/message_buffer.h
index 975a7e343..9fb97ffd0 100644
--- a/include/message_buffer.h
+++ b/include/message_buffer.h
@@ -43,12 +43,12 @@
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * timeout to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Message buffers hold variable length messages.  To enable that, when a
  * message is written to the message buffer an additional sizeof( size_t ) bytes
@@ -306,12 +306,12 @@ typedef StreamBufferHandle_t MessageBufferHandle_t;
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Use xMessageBufferSend() to write to a message buffer from a task.  Use
  * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
@@ -409,12 +409,12 @@ typedef StreamBufferHandle_t MessageBufferHandle_t;
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Use xMessageBufferSend() to write to a message buffer from a task.  Use
  * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
@@ -516,12 +516,12 @@ typedef StreamBufferHandle_t MessageBufferHandle_t;
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Use xMessageBufferReceive() to read from a message buffer from a task.  Use
  * xMessageBufferReceiveFromISR() to read from a message buffer from an
@@ -610,12 +610,12 @@ typedef StreamBufferHandle_t MessageBufferHandle_t;
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Use xMessageBufferReceive() to read from a message buffer from a task.  Use
  * xMessageBufferReceiveFromISR() to read from a message buffer from an
diff --git a/include/mpu_prototypes.h b/include/mpu_prototypes.h
index 1efd13440..9df2a5762 100644
--- a/include/mpu_prototypes.h
+++ b/include/mpu_prototypes.h
@@ -269,6 +269,9 @@ uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
                                                  StaticQueue_t * pxStaticQueue,
                                                  const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
     QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
+    QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+                                                uint8_t * pucQueueStorage,
+                                                StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
     BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
                                         QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
     BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
@@ -294,6 +297,9 @@ uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
                                                  StaticQueue_t * pxStaticQueue,
                                                  const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
     QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
+    QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+                                                uint8_t * pucQueueStorage,
+                                                StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
     BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
                                         QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
     BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
diff --git a/include/mpu_wrappers.h b/include/mpu_wrappers.h
index 4513ca996..3b4738e96 100644
--- a/include/mpu_wrappers.h
+++ b/include/mpu_wrappers.h
@@ -150,6 +150,7 @@
         #define xQueueGenericCreateStatic              MPU_xQueueGenericCreateStatic
         #define xQueueGenericReset                     MPU_xQueueGenericReset
         #define xQueueCreateSet                        MPU_xQueueCreateSet
+        #define xQueueCreateSetStatic                  MPU_xQueueCreateSetStatic
         #define xQueueRemoveFromSet                    MPU_xQueueRemoveFromSet
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
diff --git a/include/queue.h b/include/queue.h
index 963904bb3..56753d300 100644
--- a/include/queue.h
+++ b/include/queue.h
@@ -1638,12 +1638,12 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
  * function.
  *
- * A queue set must be explicitly created using a call to xQueueCreateSet()
- * before it can be used.  Once created, standard FreeRTOS queues and semaphores
- * can be added to the set using calls to xQueueAddToSet().
- * xQueueSelectFromSet() is then used to determine which, if any, of the queues
- * or semaphores contained in the set is in a state where a queue read or
- * semaphore take operation would be successful.
+ * A queue set must be explicitly created using a call to xQueueCreateSet() or
+ * xQueueCreateSetStatic() before it can be used.  Once created, standard
+ * FreeRTOS queues and semaphores can be added to the set using calls to
+ * xQueueAddToSet().  xQueueSelectFromSet() is then used to determine which, if
+ * any, of the queues or semaphores contained in the set is in a state where a
+ * queue read or semaphore take operation would be successful.
  *
  * Note 1:  See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets
  * for reasons why queue sets are very rarely needed in practice as there are
@@ -1683,9 +1683,69 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
     QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
 #endif
 
+/*
+ * Queue sets provide a mechanism to allow a task to block (pend) on a read
+ * operation from multiple queues or semaphores simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * A queue set must be explicitly created using a call to xQueueCreateSet()
+ * or xQueueCreateSetStatic() before it can be used.  Once created, standard
+ * FreeRTOS queues and semaphores can be added to the set using calls to
+ * xQueueAddToSet().  xQueueSelectFromSet() is then used to determine which, if
+ * any, of the queues or semaphores contained in the set is in a state where a
+ * queue read or semaphore take operation would be successful.
+ *
+ * Note 1:  See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets
+ * for reasons why queue sets are very rarely needed in practice as there are
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2:  Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3:  An additional 4 bytes of RAM is required for each space in a every
+ * queue added to a queue set.  Therefore counting semaphores that have a high
+ * maximum count value should not be added to a queue set.
+ *
+ * Note 4:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param uxEventQueueLength Queue sets store events that occur on
+ * the queues and semaphores contained in the set.  uxEventQueueLength specifies
+ * the maximum number of events that can be queued at once.  To be absolutely
+ * certain that events are not lost uxEventQueueLength should be set to the
+ * total sum of the length of the queues added to the set, where binary
+ * semaphores and mutexes have a length of 1, and counting semaphores have a
+ * length set by their maximum count value.  Examples:
+ *  + If a queue set is to hold a queue of length 5, another queue of length 12,
+ *    and a binary semaphore, then uxEventQueueLength should be set to
+ *    (5 + 12 + 1), or 18.
+ *  + If a queue set is to hold three binary semaphores then uxEventQueueLength
+ *    should be set to (1 + 1 + 1 ), or 3.
+ *  + If a queue set is to hold a counting semaphore that has a maximum count of
+ *    5, and a counting semaphore that has a maximum count of 3, then
+ *    uxEventQueueLength should be set to (5 + 3), or 8.
+ *
+ * @param pucQueueStorage pucQueueStorage must point to a uint8_t array that is
+ * at least large enough to hold uxEventQueueLength events.
+ *
+ * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which
+ * will be used to hold the queue's data structure.
+ *
+ * @return If the queue set is created successfully then a handle to the created
+ * queue set is returned.  If pxQueueBuffer is NULL then NULL is returned.
+ */
+#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+    QueueSetHandle_t xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+                                            uint8_t * pucQueueStorage,
+                                            StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+#endif
+
 /*
  * Adds a queue or semaphore to a queue set that was previously created by a
- * call to xQueueCreateSet().
+ * call to xQueueCreateSet() or xQueueCreateSetStatic().
  *
  * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
  * function.
diff --git a/include/stream_buffer.h b/include/stream_buffer.h
index 9b15c8aff..b0093fc80 100644
--- a/include/stream_buffer.h
+++ b/include/stream_buffer.h
@@ -40,12 +40,12 @@
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section section and set the
- * receive block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  */
 
@@ -514,12 +514,12 @@ typedef void (* StreamBufferCallbackFunction_t)( StreamBufferHandle_t xStreamBuf
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section and set the receive
- * block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Use xStreamBufferSend() to write to a stream buffer from a task.  Use
  * xStreamBufferSendFromISR() to write to a stream buffer from an interrupt
@@ -615,12 +615,12 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section and set the receive
- * block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Use xStreamBufferSend() to write to a stream buffer from a task.  Use
  * xStreamBufferSendFromISR() to write to a stream buffer from an interrupt
@@ -718,12 +718,12 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
  * writer and reader to be different tasks or interrupts, but, unlike other
  * FreeRTOS objects, it is not safe to have multiple different writers or
  * multiple different readers.  If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0.  Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section and set the receive
- * block time to 0.
+ * then the application writer must serialize calls to writing API functions
+ * (such as xStreamBufferSend()).  Likewise, if there are to be multiple
+ * different readers then the application writer must serialize calls to reading
+ * API functions (such as xStreamBufferReceive()).  One way to achieve such
+ * serialization in single core or SMP kernel is to place each API call inside a
+ * critical section and use a block time of 0.
  *
  * Use xStreamBufferReceive() to read from a stream buffer from a task.  Use
  * xStreamBufferReceiveFromISR() to read from a stream buffer from an
diff --git a/portable/ARMv8M/non_secure/portmacrocommon.h b/portable/ARMv8M/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/ARMv8M/non_secure/portmacrocommon.h
+++ b/portable/ARMv8M/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/Common/mpu_wrappers.c b/portable/Common/mpu_wrappers.c
index 4c5731665..5bc4181e2 100644
--- a/portable/Common/mpu_wrappers.c
+++ b/portable/Common/mpu_wrappers.c
@@ -1524,6 +1524,34 @@
     #endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
 /*-----------------------------------------------------------*/
 
+    #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+        QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+                                                    uint8_t * pucQueueStorage,
+                                                    StaticQueue_t * pxStaticQueue ) /* FREERTOS_SYSTEM_CALL */
+        {
+            QueueSetHandle_t xReturn;
+
+            if( portIS_PRIVILEGED() == pdFALSE )
+            {
+                portRAISE_PRIVILEGE();
+                portMEMORY_BARRIER();
+
+                xReturn = xQueueCreateSetStatic( uxEventQueueLength, pucQueueStorage, pxStaticQueue );
+                portMEMORY_BARRIER();
+
+                portRESET_PRIVILEGE();
+                portMEMORY_BARRIER();
+            }
+            else
+            {
+                xReturn = xQueueCreateSetStatic( uxEventQueueLength, pucQueueStorage, pxStaticQueue );
+            }
+
+            return xReturn;
+        }
+    #endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
     #if ( configUSE_QUEUE_SETS == 1 )
         QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
                                                         TickType_t xBlockTimeTicks ) /* FREERTOS_SYSTEM_CALL */
diff --git a/portable/Common/mpu_wrappers_v2.c b/portable/Common/mpu_wrappers_v2.c
index eb9e6f056..e92aca0f5 100644
--- a/portable/Common/mpu_wrappers_v2.c
+++ b/portable/Common/mpu_wrappers_v2.c
@@ -3016,6 +3016,39 @@
     #endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
 /*-----------------------------------------------------------*/
 
+    #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+
+        QueueSetHandle_t MPU_xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+                                                    uint8_t * pucQueueStorage,
+                                                    StaticQueue_t * pxStaticQueue ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueSetHandle_t xInternalQueueSetHandle = NULL;
+            QueueSetHandle_t xExternalQueueSetHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueSetHandle = xQueueCreateSetStatic( uxEventQueueLength, pucQueueStorage, pxStaticQueue );
+
+                if( xInternalQueueSetHandle != NULL )
+                {
+                    MPU_StoreQueueSetHandleAtIndex( lIndex, xInternalQueueSetHandle );
+                    xExternalQueueSetHandle = ( QueueSetHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueSetHandle;
+        }
+
+    #endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
     #if ( configUSE_QUEUE_SETS == 1 )
 
         BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
diff --git a/portable/GCC/ARM_AARCH64_SRE/port.c b/portable/GCC/ARM_AARCH64_SRE/port.c
index 1c96c0efd..ab9290d43 100644
--- a/portable/GCC/ARM_AARCH64_SRE/port.c
+++ b/portable/GCC/ARM_AARCH64_SRE/port.c
@@ -121,6 +121,10 @@
                          ::"r" ( portUNMASK_VALUE ) ); \
     }
 
+/* The space on the stack required to hold the FPU registers.
+ * There are 32 128-bit plus 2 64-bit status registers.*/
+#define portFPU_REGISTER_WORDS     ( (32 * 2) + 2 )
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -129,6 +133,27 @@
  */
 extern void vPortRestoreTaskContext( void );
 
+/*
+ * If the application provides an implementation of vApplicationIRQHandler(),
+ * then it will get called directly without saving the FPU registers on
+ * interrupt entry, and this weak implementation of
+ * vApplicationFPUSafeIRQHandler() is just provided to remove linkage errors -
+ * it should never actually get called so its implementation contains a
+ * call to configASSERT() that will always fail.
+ *
+ * If the application provides its own implementation of
+ * vApplicationFPUSafeIRQHandler() then the implementation of
+ * vApplicationIRQHandler() provided in portASM.S will save the FPU registers
+ * before calling it.
+ *
+ * Therefore, if the application writer wants FPU registers to be saved on
+ * interrupt entry their IRQ handler must be called
+ * vApplicationFPUSafeIRQHandler(), and if the application writer does not want
+ * FPU registers to be saved on interrupt entry their IRQ handler must be
+ * called vApplicationIRQHandler().
+ */
+void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) );
+
 /*-----------------------------------------------------------*/
 
 /* A variable is used to keep track of the critical section nesting.  This
@@ -229,23 +254,47 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
     *pxTopOfStack = ( StackType_t ) 0x00;         /* XZR - has no effect, used so there are an even number of registers. */
     pxTopOfStack--;
     *pxTopOfStack = ( StackType_t ) 0x00;         /* R30 - procedure call link register. */
-    pxTopOfStack--;
 
+    pxTopOfStack--;
     *pxTopOfStack = portINITIAL_PSTATE;
-    pxTopOfStack--;
 
+    pxTopOfStack--;
     *pxTopOfStack = ( StackType_t ) pxCode; /* Exception return address. */
-    pxTopOfStack--;
 
-    /* The task will start with a critical nesting count of 0 as interrupts are
-     * enabled. */
-    *pxTopOfStack = portNO_CRITICAL_NESTING;
-    pxTopOfStack--;
+    #if ( configUSE_TASK_FPU_SUPPORT == 1 )
+    {
+        /* The task will start with a critical nesting count of 0 as interrupts are
+        * enabled. */
+        pxTopOfStack--;
+        *pxTopOfStack = portNO_CRITICAL_NESTING;
 
-    /* The task will start without a floating point context.  A task that uses
-     * the floating point hardware must call vPortTaskUsesFPU() before executing
-     * any floating point instructions. */
-    *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+        /* The task will start without a floating point context.  A task that
+        * uses the floating point hardware must call vPortTaskUsesFPU() before
+        * executing any floating point instructions. */
+        pxTopOfStack--;
+        *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+    }
+    #elif ( configUSE_TASK_FPU_SUPPORT == 2 )
+    {
+        /* The task will start with a floating point context.  Leave enough
+        * space for the registers - and ensure they are initialised to 0. */
+        pxTopOfStack -= portFPU_REGISTER_WORDS;
+        memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) );
+
+        /* The task will start with a critical nesting count of 0 as interrupts are
+        * enabled. */
+        pxTopOfStack--;
+        *pxTopOfStack = portNO_CRITICAL_NESTING;
+
+        pxTopOfStack--;
+        *pxTopOfStack = pdTRUE;
+        ullPortTaskHasFPUContext = pdTRUE;
+    }
+    #else /* if ( configUSE_TASK_FPU_SUPPORT == 1 ) */
+    {
+        #error "Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined."
+    }
+    #endif /* if ( configUSE_TASK_FPU_SUPPORT == 1 ) */
 
     return pxTopOfStack;
 }
@@ -384,6 +433,8 @@ void FreeRTOS_Tick_Handler( void )
 }
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_TASK_FPU_SUPPORT != 2 )
+
 void vPortTaskUsesFPU( void )
 {
     /* A task is registering the fact that it needs an FPU context.  Set the
@@ -393,6 +444,8 @@ void vPortTaskUsesFPU( void )
     /* Consider initialising the FPSR here - but probably not necessary in
      * AArch64. */
 }
+
+#endif /* configUSE_TASK_FPU_SUPPORT */
 /*-----------------------------------------------------------*/
 
 void vPortClearInterruptMask( UBaseType_t uxNewMaskValue )
@@ -463,3 +516,9 @@ UBaseType_t uxPortSetInterruptMask( void )
 
 #endif /* configASSERT_DEFINED */
 /*-----------------------------------------------------------*/
+
+void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
+{
+    ( void ) ulICCIAR;
+    configASSERT( ( volatile void * ) NULL );
+}
diff --git a/portable/GCC/ARM_AARCH64_SRE/portASM.S b/portable/GCC/ARM_AARCH64_SRE/portASM.S
index ed3c031d0..f1f59cd33 100644
--- a/portable/GCC/ARM_AARCH64_SRE/portASM.S
+++ b/portable/GCC/ARM_AARCH64_SRE/portASM.S
@@ -87,7 +87,7 @@
     LDR     X0, ullPortTaskHasFPUContextConst
     LDR     X2, [X0]
 
-    /* Save the FPU context, if any (32 128-bit registers). */
+    /* Save the FPU context, if any (32 128-bit plus two 64-bit status registers). */
     CMP     X2, #0
     B.EQ    1f
     STP     Q0, Q1, [SP,#-0x20]!
@@ -107,6 +107,11 @@
     STP     Q28, Q29, [SP,#-0x20]!
     STP     Q30, Q31, [SP,#-0x20]!
 
+    /* Even though upper 32 bits of FPSR and FPCR are reserved, save and restore the whole 64 bits to keep 16-byte SP alignement. */
+    MRS     X9, FPSR
+    MRS     X10, FPCR
+    STP     X9, X10, [SP, #-0x10]!
+
 1:
     /* Store the critical nesting count and FPU context indicator. */
     STP     X2, X3, [SP, #-0x10]!
@@ -157,6 +162,7 @@
     /* Restore the FPU context, if any. */
     CMP     X2, #0
     B.EQ    1f
+    LDP     X9, X10, [SP], #0x10
     LDP     Q30, Q31, [SP], #0x20
     LDP     Q28, Q29, [SP], #0x20
     LDP     Q26, Q27, [SP], #0x20
@@ -173,6 +179,8 @@
     LDP     Q4, Q5, [SP], #0x20
     LDP     Q2, Q3, [SP], #0x20
     LDP     Q0, Q1, [SP], #0x20
+    MSR     FPSR, X9
+    MSR     FPCR, X10
 1:
     LDP     X2, X3, [SP], #0x10  /* SPSR and ELR. */
 
@@ -406,8 +414,82 @@ Exit_IRQ_No_Context_Switch:
 
     ERET
 
+/******************************************************************************
+ * If the application provides an implementation of vApplicationIRQHandler(),
+ * then it will get called directly without saving the FPU registers on
+ * interrupt entry, and this weak implementation of
+ * vApplicationIRQHandler() will not get called.
+ *
+ * If the application provides its own implementation of
+ * vApplicationFPUSafeIRQHandler() then this implementation of
+ * vApplicationIRQHandler() will be called, save the FPU registers, and then
+ * call vApplicationFPUSafeIRQHandler().
+ *
+ * Therefore, if the application writer wants FPU registers to be saved on
+ * interrupt entry their IRQ handler must be called
+ * vApplicationFPUSafeIRQHandler(), and if the application writer does not want
+ * FPU registers to be saved on interrupt entry their IRQ handler must be
+ * called vApplicationIRQHandler().
+ *****************************************************************************/
 
+.align 8
+.weak vApplicationIRQHandler
+.type vApplicationIRQHandler, %function
+vApplicationIRQHandler:
+    /* Save LR and FP on the stack */
+    STP     X29, X30, [SP, #-0x10]!
 
+    /* Save FPU registers (32 128-bits + 2 64-bits configuration and status registers) */
+    STP     Q0, Q1, [SP,#-0x20]!
+    STP     Q2, Q3, [SP,#-0x20]!
+    STP     Q4, Q5, [SP,#-0x20]!
+    STP     Q6, Q7, [SP,#-0x20]!
+    STP     Q8, Q9, [SP,#-0x20]!
+    STP     Q10, Q11, [SP,#-0x20]!
+    STP     Q12, Q13, [SP,#-0x20]!
+    STP     Q14, Q15, [SP,#-0x20]!
+    STP     Q16, Q17, [SP,#-0x20]!
+    STP     Q18, Q19, [SP,#-0x20]!
+    STP     Q20, Q21, [SP,#-0x20]!
+    STP     Q22, Q23, [SP,#-0x20]!
+    STP     Q24, Q25, [SP,#-0x20]!
+    STP     Q26, Q27, [SP,#-0x20]!
+    STP     Q28, Q29, [SP,#-0x20]!
+    STP     Q30, Q31, [SP,#-0x20]!
+
+    /* Even though upper 32 bits of FPSR and FPCR are reserved, save and restore the whole 64 bits to keep 16-byte SP alignement. */
+    MRS     X9, FPSR
+    MRS     X10, FPCR
+    STP     X9, X10, [SP, #-0x10]!
+
+    /* Call the C handler. */
+    BL vApplicationFPUSafeIRQHandler
+
+    /* Restore FPU registers */
+
+    LDP     X9, X10, [SP], #0x10
+    LDP     Q30, Q31, [SP], #0x20
+    LDP     Q28, Q29, [SP], #0x20
+    LDP     Q26, Q27, [SP], #0x20
+    LDP     Q24, Q25, [SP], #0x20
+    LDP     Q22, Q23, [SP], #0x20
+    LDP     Q20, Q21, [SP], #0x20
+    LDP     Q18, Q19, [SP], #0x20
+    LDP     Q16, Q17, [SP], #0x20
+    LDP     Q14, Q15, [SP], #0x20
+    LDP     Q12, Q13, [SP], #0x20
+    LDP     Q10, Q11, [SP], #0x20
+    LDP     Q8, Q9, [SP], #0x20
+    LDP     Q6, Q7, [SP], #0x20
+    LDP     Q4, Q5, [SP], #0x20
+    LDP     Q2, Q3, [SP], #0x20
+    LDP     Q0, Q1, [SP], #0x20
+    MSR     FPSR, X9
+    MSR     FPCR, X10
+
+    /* Restore FP and LR */
+    LDP     X29, X30, [SP], #0x10
+    RET
 
 .align 8
 pxCurrentTCBConst: .dword pxCurrentTCB
diff --git a/portable/GCC/ARM_AARCH64_SRE/portmacro.h b/portable/GCC/ARM_AARCH64_SRE/portmacro.h
index 296984d5b..5810741d2 100644
--- a/portable/GCC/ARM_AARCH64_SRE/portmacro.h
+++ b/portable/GCC/ARM_AARCH64_SRE/portmacro.h
@@ -135,9 +135,18 @@ extern void vPortInstallFreeRTOSVectorTable( void );
  * handler for whichever peripheral is used to generate the RTOS tick. */
 void FreeRTOS_Tick_Handler( void );
 
-/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
- * before any floating point instructions are executed. */
-void vPortTaskUsesFPU( void );
+/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are
+ * created without an FPU context and must call vPortTaskUsesFPU() to give
+ * themselves an FPU context before using any FPU instructions.  If
+ * configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU context
+ * by default. */
+#if ( configUSE_TASK_FPU_SUPPORT != 2 )
+    void vPortTaskUsesFPU( void );
+#else
+    /* Each task has an FPU context already, so define this function away to
+    * nothing to prevent it from being called accidentally. */
+    #define vPortTaskUsesFPU()
+#endif
 #define portTASK_USES_FLOATING_POINT()    vPortTaskUsesFPU()
 
 #define portLOWEST_INTERRUPT_PRIORITY           ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
diff --git a/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM3_MPU/portmacro.h b/portable/GCC/ARM_CM3_MPU/portmacro.h
index fb2c53832..a2e6883c0 100644
--- a/portable/GCC/ARM_CM3_MPU/portmacro.h
+++ b/portable/GCC/ARM_CM3_MPU/portmacro.h
@@ -125,6 +125,14 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
+/*
+ * +------------------------------+-------------------------------+-----+
+ * |  CONTROL, r4-r11, EXC_RETURN | PSP, r0-r3, r12, LR, PC, xPSR |     |
+ * +------------------------------+-------------------------------+-----+
+ *
+ * <-----------------------------><-------------------------------><---->
+ *                10                             9                   1
+ */
 #define MAX_CONTEXT_SIZE                    ( 20 )
 
 /* Size of an Access Control List (ACL) entry in bits. */
diff --git a/portable/GCC/ARM_CM4_MPU/portmacro.h b/portable/GCC/ARM_CM4_MPU/portmacro.h
index 0c40ac624..581b09d5c 100644
--- a/portable/GCC/ARM_CM4_MPU/portmacro.h
+++ b/portable/GCC/ARM_CM4_MPU/portmacro.h
@@ -219,7 +219,16 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* configUSE_MPU_WRAPPERS_V1 == 0 */
 
-#define MAX_CONTEXT_SIZE                    ( 52 )
+/*
+ * +---------+---------------+-----------------+-----------------+-----+
+ * | s16-s31 | s0-s15, FPSCR | CONTROL, r4-r11 | PSP, r0-r3, r12 |     |
+ * |         |               | EXC_RETURN      | LR, PC, xPSR    |     |
+ * +---------+---------------+-----------------+-----------------+-----+
+ *
+ * <--------><---------------><----------------><----------------><---->
+ *     16           17               10                 9           1
+ */
+#define MAX_CONTEXT_SIZE                    ( 53 )
 
 /* Size of an Access Control List (ACL) entry in bits. */
 #define portACL_ENTRY_SIZE_BITS             ( 32U )
diff --git a/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM4F_MPU/portmacro.h b/portable/IAR/ARM_CM4F_MPU/portmacro.h
index 08f849992..6b7600c15 100644
--- a/portable/IAR/ARM_CM4F_MPU/portmacro.h
+++ b/portable/IAR/ARM_CM4F_MPU/portmacro.h
@@ -221,7 +221,16 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* configUSE_MPU_WRAPPERS_V1 == 0 */
 
-#define MAX_CONTEXT_SIZE                    ( 52 )
+/*
+ * +---------+---------------+-----------------+-----------------+-----+
+ * | s16-s31 | s0-s15, FPSCR | CONTROL, r4-r11 | PSP, r0-r3, r12 |     |
+ * |         |               | EXC_RETURN      | LR, PC, xPSR    |     |
+ * +---------+---------------+-----------------+-----------------+-----+
+ *
+ * <--------><---------------><----------------><----------------><---->
+ *     16           17               10                 9           1
+ */
+#define MAX_CONTEXT_SIZE                    ( 53 )
 
 /* Size of an Access Control List (ACL) entry in bits. */
 #define portACL_ENTRY_SIZE_BITS             ( 32U )
diff --git a/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h
index e74fa8257..ec14d467d 100644
--- a/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h
@@ -251,9 +251,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><-----------><---->
-             *      16             16            8               8                     5                     16         1
+             *      16             17            8               8                     5                     16         1
              */
-            #define MAX_CONTEXT_SIZE    70
+            #define MAX_CONTEXT_SIZE    71
 
         #elif ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 0 ) )
 
@@ -264,9 +264,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+------------------------------+-----+
              *
              * <-----------><--------------><---------><----------------><-----------------------------><---->
-             *      16             16            8               8                     5                   1
+             *      16             17            8               8                     5                   1
              */
-            #define MAX_CONTEXT_SIZE    54
+            #define MAX_CONTEXT_SIZE    55
 
         #elif ( ( configENABLE_TRUSTZONE == 0 ) && ( configENABLE_PAC == 1 ) )
 
@@ -277,9 +277,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><-----------><---->
-             *      16             16            8               8                  4                16         1
+             *      16             17            8               8                  4                16         1
              */
-            #define MAX_CONTEXT_SIZE    69
+            #define MAX_CONTEXT_SIZE    70
 
         #else /* if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
@@ -290,9 +290,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
              * +-----------+---------------+----------+-----------------+----------------------+-----+
              *
              * <-----------><--------------><---------><----------------><---------------------><---->
-             *      16             16            8               8                  4              1
+             *      16             17            8               8                  4              1
              */
-            #define MAX_CONTEXT_SIZE    53
+            #define MAX_CONTEXT_SIZE    54
 
         #endif /* #if ( ( configENABLE_TRUSTZONE == 1 ) && ( configENABLE_PAC == 1 ) ) */
 
diff --git a/portable/RVDS/ARM_CM4_MPU/portmacro.h b/portable/RVDS/ARM_CM4_MPU/portmacro.h
index 5977f3f88..8e682ba74 100644
--- a/portable/RVDS/ARM_CM4_MPU/portmacro.h
+++ b/portable/RVDS/ARM_CM4_MPU/portmacro.h
@@ -218,7 +218,16 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-#define MAX_CONTEXT_SIZE                    ( 52 )
+/*
+ * +---------+---------------+-----------------+-----------------+-----+
+ * | s16-s31 | s0-s15, FPSCR | CONTROL, r4-r11 | PSP, r0-r3, r12 |     |
+ * |         |               | EXC_RETURN      | LR, PC, xPSR    |     |
+ * +---------+---------------+-----------------+-----------------+-----+
+ *
+ * <--------><---------------><----------------><----------------><---->
+ *     16           17               10                 9           1
+ */
+#define MAX_CONTEXT_SIZE                    ( 53 )
 
 /* Size of an Access Control List (ACL) entry in bits. */
 #define portACL_ENTRY_SIZE_BITS             ( 32U )
diff --git a/portable/ThirdParty/Community-Supported-Ports b/portable/ThirdParty/Community-Supported-Ports
index 3c5bfb8f2..bae4c7aa1 160000
--- a/portable/ThirdParty/Community-Supported-Ports
+++ b/portable/ThirdParty/Community-Supported-Ports
@@ -1 +1 @@
-Subproject commit 3c5bfb8f2e557735b5200176b4a8b25a40c68d1b
+Subproject commit bae4c7aa19009825ba48071a8fe25dcb8be84880
diff --git a/portable/ThirdParty/GCC/Posix/port.c b/portable/ThirdParty/GCC/Posix/port.c
index 0209218ee..e7feeb6d2 100644
--- a/portable/ThirdParty/GCC/Posix/port.c
+++ b/portable/ThirdParty/GCC/Posix/port.c
@@ -65,10 +65,6 @@
 #include <time.h>
 #include <unistd.h>
 
-#ifdef __APPLE__
-    #include <mach/mach_vm.h>
-#endif
-
 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"
@@ -109,6 +105,8 @@ static BaseType_t xSchedulerEnd = pdFALSE;
 static pthread_t hTimerTickThread;
 static bool xTimerTickThreadShouldRun;
 static uint64_t prvStartTimeNs;
+static pthread_mutex_t xThreadMutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_key_t xThreadKey = 0;
 /*-----------------------------------------------------------*/
 
 static void prvSetupSignalsAndSchedulerPolicy( void );
@@ -121,6 +119,66 @@ static void prvResumeThread( Thread_t * xThreadId );
 static void vPortSystemTickHandler( int sig );
 static void vPortStartFirstTask( void );
 static void prvPortYieldFromISR( void );
+static void prvThreadKeyDestructor( void * pvData );
+static void prvInitThreadKey( void );
+static void prvMarkAsFreeRTOSThread( void );
+static BaseType_t prvIsFreeRTOSThread( void );
+static void prvDestroyThreadKey( void );
+/*-----------------------------------------------------------*/
+
+static void prvThreadKeyDestructor( void * pvData )
+{
+    free( pvData );
+}
+/*-----------------------------------------------------------*/
+
+static void prvInitThreadKey( void )
+{
+    pthread_mutex_lock( &xThreadMutex );
+
+    if( xThreadKey == 0 )
+    {
+        pthread_key_create( &xThreadKey, prvThreadKeyDestructor );
+    }
+
+    pthread_mutex_unlock( &xThreadMutex );
+}
+/*-----------------------------------------------------------*/
+
+static void prvMarkAsFreeRTOSThread( void )
+{
+    uint8_t * pucThreadData = NULL;
+
+    prvInitThreadKey();
+
+    pucThreadData = malloc( 1 );
+    configASSERT( pucThreadData != NULL );
+
+    *pucThreadData = 1;
+
+    pthread_setspecific( xThreadKey, pucThreadData );
+}
+/*-----------------------------------------------------------*/
+
+static BaseType_t prvIsFreeRTOSThread( void )
+{
+    uint8_t * pucThreadData = NULL;
+    BaseType_t xRet = pdFALSE;
+
+    pucThreadData = ( uint8_t * ) pthread_getspecific( xThreadKey );
+    if( ( pucThreadData != NULL ) && ( *pucThreadData == 1 ) )
+    {
+        xRet = pdTRUE;
+    }
+
+    return xRet;
+}
+/*-----------------------------------------------------------*/
+
+static void prvDestroyThreadKey( void )
+{
+    pthread_key_delete( xThreadKey );
+}
 /*-----------------------------------------------------------*/
 
 static void prvFatalError( const char * pcCall,
@@ -283,6 +341,8 @@ BaseType_t xPortStartScheduler( void )
     /* Restore original signal mask. */
     ( void ) pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL );
 
+    prvDestroyThreadKey();
+
     return 0;
 }
 /*-----------------------------------------------------------*/
@@ -300,8 +360,12 @@ void vPortEndScheduler( void )
     ( void ) pthread_kill( hMainThread, SIG_RESUME );
 
     /* Waiting to be deleted here. */
-    pxCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
-    event_wait( pxCurrentThread->ev );
+    if( prvIsFreeRTOSThread() == pdTRUE )
+    {
+        pxCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
+        event_wait( pxCurrentThread->ev );
+    }
+
     pthread_testcancel();
 }
 /*-----------------------------------------------------------*/
@@ -356,13 +420,19 @@ void vPortYield( void )
 
 void vPortDisableInterrupts( void )
 {
-    pthread_sigmask( SIG_BLOCK, &xAllSignals, NULL );
+    if( prvIsFreeRTOSThread() == pdTRUE )
+    {
+        pthread_sigmask(SIG_BLOCK, &xAllSignals, NULL);
+    }
 }
 /*-----------------------------------------------------------*/
 
 void vPortEnableInterrupts( void )
 {
-    pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL );
+    if( prvIsFreeRTOSThread() == pdTRUE )
+    {
+        pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL );
+    }
 }
 /*-----------------------------------------------------------*/
 
@@ -398,7 +468,9 @@ static void * prvTimerTickHandler( void * arg )
 {
     ( void ) arg;
 
-    prvPortSetCurrentThreadName("Scheduler timer");
+    prvMarkAsFreeRTOSThread();
+
+    prvPortSetCurrentThreadName( "Scheduler timer" );
 
     while( xTimerTickThreadShouldRun )
     {
@@ -430,26 +502,33 @@ void prvSetupTimerInterrupt( void )
 
 static void vPortSystemTickHandler( int sig )
 {
-    Thread_t * pxThreadToSuspend;
-    Thread_t * pxThreadToResume;
-
-    ( void ) sig;
-
-    uxCriticalNesting++; /* Signals are blocked in this signal handler. */
-
-    pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
-
-    if( xTaskIncrementTick() != pdFALSE )
+    if( prvIsFreeRTOSThread() == pdTRUE )
     {
-        /* Select Next Task. */
-        vTaskSwitchContext();
+        Thread_t * pxThreadToSuspend;
+        Thread_t * pxThreadToResume;
 
-        pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
+        ( void ) sig;
 
-        prvSwitchThread( pxThreadToResume, pxThreadToSuspend );
+        uxCriticalNesting++; /* Signals are blocked in this signal handler. */
+
+        pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
+
+        if( xTaskIncrementTick() != pdFALSE )
+        {
+            /* Select Next Task. */
+            vTaskSwitchContext();
+
+            pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
+
+            prvSwitchThread( pxThreadToResume, pxThreadToSuspend );
+        }
+
+        uxCriticalNesting--;
+    }
+    else
+    {
+        fprintf( stderr, "vPortSystemTickHandler called from non-FreeRTOS thread\n" );
     }
-
-    uxCriticalNesting--;
 }
 /*-----------------------------------------------------------*/
 
@@ -482,6 +561,8 @@ static void * prvWaitForStart( void * pvParams )
 {
     Thread_t * pxThread = pvParams;
 
+    prvMarkAsFreeRTOSThread();
+
     prvSuspendSelf( pxThread );
 
     /* Resumed for the first time, unblocks all signals. */
diff --git a/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c b/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c
index bf744e27f..55fd7bbfc 100644
--- a/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c
+++ b/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c
@@ -35,9 +35,11 @@
 struct event
 {
     pthread_mutex_t mutex;
+    pthread_mutexattr_t mutexattr;
     pthread_cond_t cond;
     bool event_triggered;
 };
+/*-----------------------------------------------------------*/
 
 struct event * event_create( void )
 {
@@ -46,23 +48,36 @@ struct event * event_create( void )
     if( ev != NULL )
     {
         ev->event_triggered = false;
-        pthread_mutex_init( &ev->mutex, NULL );
+        pthread_mutexattr_init( &ev->mutexattr );
+        #ifndef __APPLE__
+            pthread_mutexattr_setrobust( &ev->mutexattr, PTHREAD_MUTEX_ROBUST );
+        #endif
+        pthread_mutex_init( &ev->mutex, &ev->mutexattr );
         pthread_cond_init( &ev->cond, NULL );
     }
 
     return ev;
 }
+/*-----------------------------------------------------------*/
 
 void event_delete( struct event * ev )
 {
     pthread_mutex_destroy( &ev->mutex );
+    pthread_mutexattr_destroy( &ev->mutexattr );
     pthread_cond_destroy( &ev->cond );
     free( ev );
 }
+/*-----------------------------------------------------------*/
 
 bool event_wait( struct event * ev )
 {
-    pthread_mutex_lock( &ev->mutex );
+    if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
+    {
+        #ifndef __APPLE__
+            /* If the thread owning the mutex died, make the mutex consistent. */
+            pthread_mutex_consistent( &ev->mutex );
+        #endif
+    }
 
     while( ev->event_triggered == false )
     {
@@ -73,6 +88,8 @@ bool event_wait( struct event * ev )
     pthread_mutex_unlock( &ev->mutex );
     return true;
 }
+/*-----------------------------------------------------------*/
+
 bool event_wait_timed( struct event * ev,
                        time_t ms )
 {
@@ -82,7 +99,13 @@ bool event_wait_timed( struct event * ev,
     clock_gettime( CLOCK_REALTIME, &ts );
     ts.tv_sec += ms / 1000;
     ts.tv_nsec += ( ( ms % 1000 ) * 1000000 );
-    pthread_mutex_lock( &ev->mutex );
+    if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
+    {
+        #ifndef __APPLE__
+            /* If the thread owning the mutex died, make the mutex consistent. */
+            pthread_mutex_consistent( &ev->mutex );
+        #endif
+    }
 
     while( ( ev->event_triggered == false ) && ( ret == 0 ) )
     {
@@ -98,11 +121,19 @@ bool event_wait_timed( struct event * ev,
     pthread_mutex_unlock( &ev->mutex );
     return true;
 }
+/*-----------------------------------------------------------*/
 
 void event_signal( struct event * ev )
 {
-    pthread_mutex_lock( &ev->mutex );
+    if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
+    {
+        #ifndef __APPLE__
+            /* If the thread owning the mutex died, make the mutex consistent. */
+            pthread_mutex_consistent( &ev->mutex );
+        #endif
+    }
     ev->event_triggered = true;
     pthread_cond_signal( &ev->cond );
     pthread_mutex_unlock( &ev->mutex );
 }
+/*-----------------------------------------------------------*/
diff --git a/queue.c b/queue.c
index 4759b439b..688fb3113 100644
--- a/queue.c
+++ b/queue.c
@@ -3186,7 +3186,27 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
         return pxQueue;
     }
 
-#endif /* configUSE_QUEUE_SETS */
+#endif /* #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+
+    QueueSetHandle_t xQueueCreateSetStatic( const UBaseType_t uxEventQueueLength,
+                                            uint8_t * pucQueueStorage,
+                                            StaticQueue_t * pxStaticQueue )
+    {
+        QueueSetHandle_t pxQueue;
+
+        traceENTER_xQueueCreateSetStatic( uxEventQueueLength );
+
+        pxQueue = xQueueGenericCreateStatic( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), pucQueueStorage, pxStaticQueue, queueQUEUE_TYPE_SET );
+
+        traceRETURN_xQueueCreateSetStatic( pxQueue );
+
+        return pxQueue;
+    }
+
+#endif /* #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_QUEUE_SETS == 1 )
diff --git a/tasks.c b/tasks.c
index d7153f680..518c9e87f 100644
--- a/tasks.c
+++ b/tasks.c
@@ -156,6 +156,23 @@
     #define configIDLE_TASK_NAME    "IDLE"
 #endif
 
+#if ( configNUMBER_OF_CORES > 1 )
+    /* Reserve space for Core ID and null termination. */
+    #if ( configMAX_TASK_NAME_LEN < 2U )
+        #error Minimum required task name length is 2. Please increase configMAX_TASK_NAME_LEN.
+    #endif
+    #define taskRESERVED_TASK_NAME_LENGTH    2U
+
+#elif ( configNUMBER_OF_CORES > 9 )
+    #warning Please increase taskRESERVED_TASK_NAME_LENGTH. 1 character is insufficient to store the core ID.
+#else
+    /* Reserve space for null termination. */
+    #if ( configMAX_TASK_NAME_LEN < 1U )
+        #error Minimum required task name length is 1. Please increase configMAX_TASK_NAME_LEN.
+    #endif
+    #define taskRESERVED_TASK_NAME_LENGTH    1U
+#endif /* if ( ( configNUMBER_OF_CORES > 1 ) */
+
 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
 
 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
@@ -3527,21 +3544,26 @@ static BaseType_t prvCreateIdleTasks( void )
     BaseType_t xCoreID;
     char cIdleName[ configMAX_TASK_NAME_LEN ] = { 0 };
     TaskFunction_t pxIdleTaskFunction = NULL;
-    BaseType_t xIdleTaskNameIndex;
-    BaseType_t xIdleNameLen;
-    BaseType_t xCopyLen;
+    UBaseType_t xIdleTaskNameIndex;
 
-    configASSERT( ( configIDLE_TASK_NAME != NULL ) && ( configMAX_TASK_NAME_LEN > 3 ) );
-
-    /* The length of the idle task name is limited to the minimum of the length
-     * of configIDLE_TASK_NAME and configMAX_TASK_NAME_LEN - 2, keeping space
-     * for the core ID suffix and the null-terminator. */
-    xIdleNameLen = strlen( configIDLE_TASK_NAME );
-    xCopyLen = xIdleNameLen < ( configMAX_TASK_NAME_LEN - 2 ) ? xIdleNameLen : ( configMAX_TASK_NAME_LEN - 2 );
-
-    for( xIdleTaskNameIndex = ( BaseType_t ) 0; xIdleTaskNameIndex < xCopyLen; xIdleTaskNameIndex++ )
+    /* MISRA Ref 14.3.1 [Configuration dependent invariant] */
+    /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-143. */
+    /* coverity[misra_c_2012_rule_14_3_violation] */
+    for( xIdleTaskNameIndex = 0U; xIdleTaskNameIndex < ( configMAX_TASK_NAME_LEN - taskRESERVED_TASK_NAME_LENGTH ); xIdleTaskNameIndex++ )
     {
+        /* MISRA Ref 18.1.1 [Configuration dependent bounds checking] */
+        /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-181. */
+        /* coverity[misra_c_2012_rule_18_1_violation] */
         cIdleName[ xIdleTaskNameIndex ] = configIDLE_TASK_NAME[ xIdleTaskNameIndex ];
+
+        if( cIdleName[ xIdleTaskNameIndex ] == ( char ) 0x00 )
+        {
+            break;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
     }
 
     /* Ensure null termination. */