diff --git a/.github/SECURITY.md b/.github/SECURITY.md
index 1472c0c86..83ca1bbe8 100644
--- a/.github/SECURITY.md
+++ b/.github/SECURITY.md
@@ -1,3 +1,13 @@
+## Threat model
+
+Before reporting an issue, please review the FreeRTOS kernel threat model. It
+describes the security assumptions the kernel makes, which threats are in scope,
+and the protections the kernel does and does not provide. Understanding these
+boundaries helps determine whether an observed behavior is a security
+vulnerability or expected, documented behavior.
+
+- [FreeRTOS Kernel Threat Model](https://www.freertos.org/Security/02-Kernel-threat-model)
+
 ## Reporting a Vulnerability
 
 If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security 
diff --git a/croutine.c b/croutine.c
index 84e1b99bd..95cbb294c 100644
--- a/croutine.c
+++ b/croutine.c
@@ -38,24 +38,26 @@
  * than file scope.
  */
     #ifdef portREMOVE_STATIC_QUALIFIER
-        #define static
+        #define STATIC
+    #else
+        #define STATIC    static
     #endif
 
 
 /* Lists for ready and blocked co-routines. --------------------*/
-    static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /**< Prioritised ready co-routines. */
-    static List_t xDelayedCoRoutineList1;                                   /**< Delayed co-routines. */
-    static List_t xDelayedCoRoutineList2;                                   /**< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
-    static List_t * pxDelayedCoRoutineList = NULL;                          /**< Points to the delayed co-routine list currently being used. */
-    static List_t * pxOverflowDelayedCoRoutineList = NULL;                  /**< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
-    static List_t xPendingReadyCoRoutineList;                               /**< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
+    STATIC List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /**< Prioritised ready co-routines. */
+    STATIC List_t xDelayedCoRoutineList1;                                   /**< Delayed co-routines. */
+    STATIC List_t xDelayedCoRoutineList2;                                   /**< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
+    STATIC List_t * pxDelayedCoRoutineList = NULL;                          /**< Points to the delayed co-routine list currently being used. */
+    STATIC List_t * pxOverflowDelayedCoRoutineList = NULL;                  /**< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
+    STATIC List_t xPendingReadyCoRoutineList;                               /**< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
 
 /* Other file private variables. --------------------------------*/
     CRCB_t * pxCurrentCoRoutine = NULL;
-    static UBaseType_t uxTopCoRoutineReadyPriority = ( UBaseType_t ) 0U;
-    static TickType_t xCoRoutineTickCount = ( TickType_t ) 0U;
-    static TickType_t xLastTickCount = ( TickType_t ) 0U;
-    static TickType_t xPassedTicks = ( TickType_t ) 0U;
+    STATIC UBaseType_t uxTopCoRoutineReadyPriority = ( UBaseType_t ) 0U;
+    STATIC TickType_t xCoRoutineTickCount = ( TickType_t ) 0U;
+    STATIC TickType_t xLastTickCount = ( TickType_t ) 0U;
+    STATIC TickType_t xPassedTicks = ( TickType_t ) 0U;
 
 /* The initial state of the co-routine when it is created. */
     #define corINITIAL_STATE    ( 0 )
@@ -80,7 +82,7 @@
  * Utility to ready all the lists used by the scheduler.  This is called
  * automatically upon the creation of the first co-routine.
  */
-    static void prvInitialiseCoRoutineLists( void );
+    STATIC void prvInitialiseCoRoutineLists( void );
 
 /*
  * Co-routines that are readied by an interrupt cannot be placed directly into
@@ -88,7 +90,7 @@
  * in the pending ready list in order that they can later be moved to the ready
  * list by the co-routine scheduler.
  */
-    static void prvCheckPendingReadyList( void );
+    STATIC void prvCheckPendingReadyList( void );
 
 /*
  * Macro that looks at the list of co-routines that are currently delayed to
@@ -98,7 +100,7 @@
  * meaning once one co-routine has been found whose timer has not expired
  * we need not look any further down the list.
  */
-    static void prvCheckDelayedList( void );
+    STATIC void prvCheckDelayedList( void );
 
 /*-----------------------------------------------------------*/
 
@@ -212,7 +214,7 @@
     }
 /*-----------------------------------------------------------*/
 
-    static void prvCheckPendingReadyList( void )
+    STATIC void prvCheckPendingReadyList( void )
     {
         /* Are there any co-routines waiting to get moved to the ready list?  These
          * are co-routines that have been readied by an ISR.  The ISR cannot access
@@ -235,7 +237,7 @@
     }
 /*-----------------------------------------------------------*/
 
-    static void prvCheckDelayedList( void )
+    STATIC void prvCheckDelayedList( void )
     {
         CRCB_t * pxCRCB;
 
@@ -333,7 +335,7 @@
     }
 /*-----------------------------------------------------------*/
 
-    static void prvInitialiseCoRoutineLists( void )
+    STATIC void prvInitialiseCoRoutineLists( void )
     {
         UBaseType_t uxPriority;
 
@@ -402,4 +404,4 @@
     }
 /*-----------------------------------------------------------*/
 
-#endif /* configUSE_CO_ROUTINES == 0 */
+#endif /* configUSE_CO_ROUTINES != 0 */
diff --git a/examples/template_configuration/FreeRTOSConfig.h b/examples/template_configuration/FreeRTOSConfig.h
index 7859a5c77..4a74fe4ca 100644
--- a/examples/template_configuration/FreeRTOSConfig.h
+++ b/examples/template_configuration/FreeRTOSConfig.h
@@ -136,7 +136,7 @@
  *
  * Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_64_BITS causes
  * TickType_t to be defined (typedef'ed) as an unsigned 64-bit type. */
-#define configTICK_TYPE_WIDTH_IN_BITS              TICK_TYPE_WIDTH_64_BITS
+#define configTICK_TYPE_WIDTH_IN_BITS              TICK_TYPE_WIDTH_32_BITS
 
 /* Set configIDLE_SHOULD_YIELD to 1 to have the Idle task yield to an
  * application task if there is an Idle priority (priority 0) application task
@@ -558,6 +558,13 @@
  * tskNO_AFFINITY if left undefined. */
 #define configTIMER_SERVICE_TASK_CORE_AFFINITY    tskNO_AFFINITY
 
+/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set
+ * configIDLE_AFFINITY to 1 to pin each Idle task to its corresponding
+ * core. When set to 1, Idle task N will only run on core N, using an affinity
+ * mask of (1 << N).  Set to 0 to allow the scheduler to run Idle tasks on any
+ * available core.  Defaults to 0 if left undefined. */
+#define configIDLE_AFFINITY                       0
+
 /******************************************************************************/
 /* ARMv8-M secure side port related definitions. ******************************/
 /******************************************************************************/
diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index 63e2feb51..83fd430bd 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -377,6 +377,10 @@
     #define configIDLE_SHOULD_YIELD    1
 #endif
 
+#ifndef configIDLE_AFFINITY
+    #define configIDLE_AFFINITY    0
+#endif
+
 #if configMAX_TASK_NAME_LEN < 1
     #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h
 #endif
diff --git a/include/mpu_prototypes.h b/include/mpu_prototypes.h
index b4c0f4745..d8dc56a48 100644
--- a/include/mpu_prototypes.h
+++ b/include/mpu_prototypes.h
@@ -369,6 +369,9 @@ BaseType_t MPU_xTimerGenericCommandFromISR( TimerHandle_t xTimer,
                                             BaseType_t * const pxHigherPriorityTaskWoken,
                                             const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
+BaseType_t MPU_xTimerDelete( TimerHandle_t xTimer,
+                             TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
 /* MPU versions of event_group.h API functions. */
 EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
                                      const EventBits_t uxBitsToWaitFor,
diff --git a/include/mpu_wrappers.h b/include/mpu_wrappers.h
index 3b4738e96..3de2013ce 100644
--- a/include/mpu_wrappers.h
+++ b/include/mpu_wrappers.h
@@ -190,6 +190,7 @@
             #define xTimerCreateStatic             MPU_xTimerCreateStatic
             #define xTimerGetStaticBuffer          MPU_xTimerGetStaticBuffer
             #define xTimerGenericCommandFromISR    MPU_xTimerGenericCommandFromISR
+            #define xTimerDelete                   MPU_xTimerDelete
         #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
 /* Map standard event_group.h API functions to the MPU equivalents. */
diff --git a/include/task.h b/include/task.h
index 2a19fa73f..5353dc694 100644
--- a/include/task.h
+++ b/include/task.h
@@ -548,6 +548,14 @@ typedef enum
  * The function parameters define the memory regions and associated access
  * permissions allocated to the task.
  *
+ * The parameter macros used in MemoryRegion_t.ulParameters are port specific.
+ * Some ports, including the Cortex-M3/4 MPU ports, use the portMPU_REGION_*
+ * values shown below.
+ * ARMv8-M MPU ports, such as CM23, CM33, CM52, CM55, CM85 and STAR_MC3, use
+ * the tskMPU_REGION_* values defined in this header; the port translates them
+ * into MPU register settings. Check the selected port's headers before selecting
+ * the region parameter macros.
+ *
  * See xTaskCreateRestrictedStatic() for a version that does not use any
  * dynamic memory allocation.
  *
@@ -639,6 +647,14 @@ typedef enum
  * xTaskCreateRestrictedStatic() therefore allows a memory protected task to be
  * created without using any dynamic memory allocation.
  *
+ * The parameter macros used in MemoryRegion_t.ulParameters are port specific.
+ * Some ports, including the Cortex-M3/4 MPU ports, use the portMPU_REGION_*
+ * values shown below.
+ * ARMv8-M MPU ports, such as CM23, CM33, CM52, CM55, CM85 and STAR_MC3, use
+ * the tskMPU_REGION_* values defined in this header; the port translates them
+ * into MPU register settings. Check the selected port's headers before selecting
+ * the region parameter macros.
+ *
  * @param pxTaskDefinition Pointer to a structure that contains a member
  * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
  * documentation) plus an optional stack buffer and the memory region
@@ -728,6 +744,14 @@ typedef enum
  * @param[in] pxRegions A pointer to a MemoryRegion_t structure that contains the
  * new memory region definitions.
  *
+ * The parameter macros used in MemoryRegion_t.ulParameters are port specific.
+ * Some ports, including the Cortex-M3/4 MPU ports, use the portMPU_REGION_*
+ * values shown below.
+ * ARMv8-M MPU ports, such as CM23, CM33, CM52, CM55, CM85 and STAR_MC3, use
+ * the tskMPU_REGION_* values defined in this header; the port translates them
+ * into MPU register settings. Check the selected port's headers before selecting
+ * the region parameter macros.
+ *
  * Example usage:
  * @code{c}
  * // Define an array of MemoryRegion_t structures that configures an MPU region
@@ -1050,7 +1074,7 @@ UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNC
  *
  * @return The base priority of xTask.
  *
- * \defgroup uxTaskPriorityGet uxTaskBasePriorityGet
+ * \defgroup uxTaskBasePriorityGet uxTaskBasePriorityGet
  * \ingroup TaskCtrl
  */
 UBaseType_t uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
diff --git a/include/timers.h b/include/timers.h
index 7d99d3536..191703928 100644
--- a/include/timers.h
+++ b/include/timers.h
@@ -667,8 +667,13 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerChangePeriod() API function example usage scenario.
  */
-#define xTimerDelete( xTimer, xTicksToWait ) \
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
+    BaseType_t xTimerDelete( TimerHandle_t xTimer,
+                             TickType_t xTicksToWait );
+#else
+    #define xTimerDelete( xTimer, xTicksToWait ) \
     xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
+#endif
 
 /**
  * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait );
diff --git a/portable/ARMv8M/non_secure/port.c b/portable/ARMv8M/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/ARMv8M/non_secure/port.c
+++ b/portable/ARMv8M/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c b/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c
index 978d35259..b584c63e7 100644
--- a/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c
+++ b/portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c
@@ -47,6 +47,12 @@
     #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -590,15 +596,16 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   adds r2, r2, %0                                 \n" /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+        "   ldr r1, [r2]                                    \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   bne free_secure_context                         \n" /* Branch if r1 != 0. */
         "   bx lr                                           \n" /* There is no secure context (xSecureContext is NULL). */
         " free_secure_context:                              \n"
-        "   svc %0                                          \n" /* Secure context is freed in the supervisor call. */
+        "   svc %1                                          \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c b/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c
index 0ebbe48a4..d6c0348d9 100644
--- a/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c
+++ b/portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c
@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s b/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s
index 6817abd7a..d8e0abf79 100644
--- a/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s
+++ b/portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s
@@ -40,6 +40,12 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
@@ -512,8 +518,9 @@ SVC_Handler:
 /*-----------------------------------------------------------*/
 
 vPortFreeSecureContext:
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    adds r2, r2, #SECURE_CONTEXT_OFFSET     /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+    ldr r1, [r2]                            /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     bne free_secure_context                 /* Branch if r1 != 0. */
     bx lr                                   /* There is no secure context (xSecureContext is NULL). */
diff --git a/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s b/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s
index 8d5988819..47fcfa15b 100644
--- a/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s
+++ b/portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s
@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */
diff --git a/portable/ARMv8M/non_secure/portmacrocommon.h b/portable/ARMv8M/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/ARMv8M/non_secure/portmacrocommon.h
+++ b/portable/ARMv8M/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/Common/mpu_wrappers_v2.c b/portable/Common/mpu_wrappers_v2.c
index 70082b829..612cbae18 100644
--- a/portable/Common/mpu_wrappers_v2.c
+++ b/portable/Common/mpu_wrappers_v2.c
@@ -3890,6 +3890,40 @@
     #endif /* if ( configUSE_TIMERS == 1 ) */
 /*-----------------------------------------------------------*/
 
+    #if ( configUSE_TIMERS == 1 )
+
+        BaseType_t MPU_xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTimerHandle != NULL )
+                {
+                    xReturn = xTimerGenericCommandFromTask( xInternalTimerHandle,
+                                                            tmrCOMMAND_DELETE,
+                                                            0U, /* xOptionalValue */
+                                                            NULL, /* pxHigherPriorityTaskWoken */
+                                                            xTicksToWait );
+                    if( xReturn != pdFALSE )
+                    {
+                        MPU_SetIndexFreeInKernelObjectPool( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
 /*-----------------------------------------------------------*/
 /*           MPU wrappers for event group APIs.              */
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_CM23/non_secure/port.c b/portable/GCC/ARM_CM23/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM23/non_secure/port.c
+++ b/portable/GCC/ARM_CM23/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM23/non_secure/portasm.c b/portable/GCC/ARM_CM23/non_secure/portasm.c
index 978d35259..b584c63e7 100644
--- a/portable/GCC/ARM_CM23/non_secure/portasm.c
+++ b/portable/GCC/ARM_CM23/non_secure/portasm.c
@@ -47,6 +47,12 @@
     #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -590,15 +596,16 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   adds r2, r2, %0                                 \n" /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+        "   ldr r1, [r2]                                    \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   bne free_secure_context                         \n" /* Branch if r1 != 0. */
         "   bx lr                                           \n" /* There is no secure context (xSecureContext is NULL). */
         " free_secure_context:                              \n"
-        "   svc %0                                          \n" /* Secure context is freed in the supervisor call. */
+        "   svc %1                                          \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM23/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM23_NTZ/non_secure/port.c b/portable/GCC/ARM_CM23_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM23_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM23_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM33/non_secure/port.c b/portable/GCC/ARM_CM33/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM33/non_secure/port.c
+++ b/portable/GCC/ARM_CM33/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM33/non_secure/portasm.c b/portable/GCC/ARM_CM33/non_secure/portasm.c
index 0ebbe48a4..d6c0348d9 100644
--- a/portable/GCC/ARM_CM33/non_secure/portasm.c
+++ b/portable/GCC/ARM_CM33/non_secure/portasm.c
@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM33/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM33_NTZ/non_secure/port.c b/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM35P/non_secure/port.c b/portable/GCC/ARM_CM35P/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM35P/non_secure/port.c
+++ b/portable/GCC/ARM_CM35P/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM35P/non_secure/portasm.c b/portable/GCC/ARM_CM35P/non_secure/portasm.c
index 0ebbe48a4..d6c0348d9 100644
--- a/portable/GCC/ARM_CM35P/non_secure/portasm.c
+++ b/portable/GCC/ARM_CM35P/non_secure/portasm.c
@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c b/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM3_MPU/port.c b/portable/GCC/ARM_CM3_MPU/port.c
index 8c4dd7800..c8d3439b6 100644
--- a/portable/GCC/ARM_CM3_MPU/port.c
+++ b/portable/GCC/ARM_CM3_MPU/port.c
@@ -55,9 +55,19 @@
     #define portNVIC_SYSTICK_CLK    ( 0 )
 #endif
 
+/* Unprivileged critical sections are not supported when using MPU wrappers
+ * version 2. Default the option to 0 and reject an explicit value of 1. */
 #ifndef configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS
-    #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
-    #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    0
+    #else
+        #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #endif
+#else
+    #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) )
+        #error configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not supported with MPU wrappers version 2 ( configUSE_MPU_WRAPPERS_V1 == 0 ).
+    #endif
 #endif
 
 /* Prototype of all Interrupt Service Routines (ISRs). */
diff --git a/portable/GCC/ARM_CM4_MPU/port.c b/portable/GCC/ARM_CM4_MPU/port.c
index 79f5e76d5..5a3527157 100644
--- a/portable/GCC/ARM_CM4_MPU/port.c
+++ b/portable/GCC/ARM_CM4_MPU/port.c
@@ -59,9 +59,19 @@
     #define portNVIC_SYSTICK_CLK    ( 0 )
 #endif
 
+/* Unprivileged critical sections are not supported when using MPU wrappers
+ * version 2. Default the option to 0 and reject an explicit value of 1. */
 #ifndef configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS
-    #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
-    #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    0
+    #else
+        #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #endif
+#else
+    #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) )
+        #error configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not supported with MPU wrappers version 2 ( configUSE_MPU_WRAPPERS_V1 == 0 ).
+    #endif
 #endif
 
 /* Prototype of all Interrupt Service Routines (ISRs). */
diff --git a/portable/GCC/ARM_CM52/non_secure/port.c b/portable/GCC/ARM_CM52/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM52/non_secure/port.c
+++ b/portable/GCC/ARM_CM52/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM52/non_secure/portasm.c b/portable/GCC/ARM_CM52/non_secure/portasm.c
index 0ebbe48a4..d6c0348d9 100644
--- a/portable/GCC/ARM_CM52/non_secure/portasm.c
+++ b/portable/GCC/ARM_CM52/non_secure/portasm.c
@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_CM52/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM52/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM52/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM52/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM52_NTZ/non_secure/port.c b/portable/GCC/ARM_CM52_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM52_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM52_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM52_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM52_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM52_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM52_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM55/non_secure/port.c b/portable/GCC/ARM_CM55/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM55/non_secure/port.c
+++ b/portable/GCC/ARM_CM55/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM55/non_secure/portasm.c b/portable/GCC/ARM_CM55/non_secure/portasm.c
index 0ebbe48a4..d6c0348d9 100644
--- a/portable/GCC/ARM_CM55/non_secure/portasm.c
+++ b/portable/GCC/ARM_CM55/non_secure/portasm.c
@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM55/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM55_NTZ/non_secure/port.c b/portable/GCC/ARM_CM55_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM55_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM55_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM85/non_secure/port.c b/portable/GCC/ARM_CM85/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM85/non_secure/port.c
+++ b/portable/GCC/ARM_CM85/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM85/non_secure/portasm.c b/portable/GCC/ARM_CM85/non_secure/portasm.c
index 0ebbe48a4..d6c0348d9 100644
--- a/portable/GCC/ARM_CM85/non_secure/portasm.c
+++ b/portable/GCC/ARM_CM85/non_secure/portasm.c
@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM85/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CM85_NTZ/non_secure/port.c b/portable/GCC/ARM_CM85_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_CM85_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM85_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_CRx_No_GIC/portASM.S b/portable/GCC/ARM_CRx_No_GIC/portASM.S
index de9845e0f..fe4fa4d53 100644
--- a/portable/GCC/ARM_CRx_No_GIC/portASM.S
+++ b/portable/GCC/ARM_CRx_No_GIC/portASM.S
@@ -50,7 +50,7 @@
     .global vPortRestoreTaskContext
     .global vPortInitialiseFPSCR
     .global ulReadAPSR
-    .global vPortYield
+    .weak   vPortYield
     .global vPortEnableInterrupts
     .global vPortDisableInterrupts
     .global ulPortSetInterruptMaskFromISR
diff --git a/portable/GCC/ARM_STAR_MC3/non_secure/port.c b/portable/GCC/ARM_STAR_MC3/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_STAR_MC3/non_secure/port.c
+++ b/portable/GCC/ARM_STAR_MC3/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_STAR_MC3/non_secure/portasm.c b/portable/GCC/ARM_STAR_MC3/non_secure/portasm.c
index 0ebbe48a4..d6c0348d9 100644
--- a/portable/GCC/ARM_STAR_MC3/non_secure/portasm.c
+++ b/portable/GCC/ARM_STAR_MC3/non_secure/portasm.c
@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/
diff --git a/portable/GCC/ARM_STAR_MC3/non_secure/portmacrocommon.h b/portable/GCC/ARM_STAR_MC3/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_STAR_MC3/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_STAR_MC3/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/port.c b/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h b/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h
+++ b/portable/GCC/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM23/non_secure/port.c b/portable/IAR/ARM_CM23/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM23/non_secure/port.c
+++ b/portable/IAR/ARM_CM23/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM23/non_secure/portasm.s b/portable/IAR/ARM_CM23/non_secure/portasm.s
index 6817abd7a..d8e0abf79 100644
--- a/portable/IAR/ARM_CM23/non_secure/portasm.s
+++ b/portable/IAR/ARM_CM23/non_secure/portasm.s
@@ -40,6 +40,12 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
@@ -512,8 +518,9 @@ SVC_Handler:
 /*-----------------------------------------------------------*/
 
 vPortFreeSecureContext:
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    adds r2, r2, #SECURE_CONTEXT_OFFSET     /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+    ldr r1, [r2]                            /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     bne free_secure_context                 /* Branch if r1 != 0. */
     bx lr                                   /* There is no secure context (xSecureContext is NULL). */
diff --git a/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM23/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM23_NTZ/non_secure/port.c b/portable/IAR/ARM_CM23_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM23_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM23_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM33/non_secure/port.c b/portable/IAR/ARM_CM33/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM33/non_secure/port.c
+++ b/portable/IAR/ARM_CM33/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM33/non_secure/portasm.s b/portable/IAR/ARM_CM33/non_secure/portasm.s
index 8d5988819..47fcfa15b 100644
--- a/portable/IAR/ARM_CM33/non_secure/portasm.s
+++ b/portable/IAR/ARM_CM33/non_secure/portasm.s
@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */
diff --git a/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM33/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM33_NTZ/non_secure/port.c b/portable/IAR/ARM_CM33_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM33_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM33_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM35P/non_secure/port.c b/portable/IAR/ARM_CM35P/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM35P/non_secure/port.c
+++ b/portable/IAR/ARM_CM35P/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM35P/non_secure/portasm.s b/portable/IAR/ARM_CM35P/non_secure/portasm.s
index 8d5988819..47fcfa15b 100644
--- a/portable/IAR/ARM_CM35P/non_secure/portasm.s
+++ b/portable/IAR/ARM_CM35P/non_secure/portasm.s
@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */
diff --git a/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c b/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM4F_MPU/port.c b/portable/IAR/ARM_CM4F_MPU/port.c
index 720138f08..0441e0f0c 100644
--- a/portable/IAR/ARM_CM4F_MPU/port.c
+++ b/portable/IAR/ARM_CM4F_MPU/port.c
@@ -66,9 +66,19 @@
     #define portNVIC_SYSTICK_CLK_BIT    ( 0 )
 #endif
 
+/* Unprivileged critical sections are not supported when using MPU wrappers
+ * version 2. Default the option to 0 and reject an explicit value of 1. */
 #ifndef configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS
-    #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
-    #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    0
+    #else
+        #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #endif
+#else
+    #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) )
+        #error configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not supported with MPU wrappers version 2 ( configUSE_MPU_WRAPPERS_V1 == 0 ).
+    #endif
 #endif
 
 /* Prototype of all Interrupt Service Routines (ISRs). */
diff --git a/portable/IAR/ARM_CM52/non_secure/port.c b/portable/IAR/ARM_CM52/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM52/non_secure/port.c
+++ b/portable/IAR/ARM_CM52/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM52/non_secure/portasm.s b/portable/IAR/ARM_CM52/non_secure/portasm.s
index 8d5988819..47fcfa15b 100644
--- a/portable/IAR/ARM_CM52/non_secure/portasm.s
+++ b/portable/IAR/ARM_CM52/non_secure/portasm.s
@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */
diff --git a/portable/IAR/ARM_CM52/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM52/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM52/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM52/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM52_NTZ/non_secure/port.c b/portable/IAR/ARM_CM52_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM52_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM52_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM52_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM52_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM52_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM52_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM55/non_secure/port.c b/portable/IAR/ARM_CM55/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM55/non_secure/port.c
+++ b/portable/IAR/ARM_CM55/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM55/non_secure/portasm.s b/portable/IAR/ARM_CM55/non_secure/portasm.s
index 8d5988819..47fcfa15b 100644
--- a/portable/IAR/ARM_CM55/non_secure/portasm.s
+++ b/portable/IAR/ARM_CM55/non_secure/portasm.s
@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */
diff --git a/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM55/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM55_NTZ/non_secure/port.c b/portable/IAR/ARM_CM55_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM55_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM55_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM85/non_secure/port.c b/portable/IAR/ARM_CM85/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM85/non_secure/port.c
+++ b/portable/IAR/ARM_CM85/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM85/non_secure/portasm.s b/portable/IAR/ARM_CM85/non_secure/portasm.s
index 8d5988819..47fcfa15b 100644
--- a/portable/IAR/ARM_CM85/non_secure/portasm.s
+++ b/portable/IAR/ARM_CM85/non_secure/portasm.s
@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */
diff --git a/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM85/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_CM85_NTZ/non_secure/port.c b/portable/IAR/ARM_CM85_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_CM85_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM85_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_STAR_MC3/non_secure/port.c b/portable/IAR/ARM_STAR_MC3/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_STAR_MC3/non_secure/port.c
+++ b/portable/IAR/ARM_STAR_MC3/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_STAR_MC3/non_secure/portasm.s b/portable/IAR/ARM_STAR_MC3/non_secure/portasm.s
index 8d5988819..47fcfa15b 100644
--- a/portable/IAR/ARM_STAR_MC3/non_secure/portasm.s
+++ b/portable/IAR/ARM_STAR_MC3/non_secure/portasm.s
@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */
diff --git a/portable/IAR/ARM_STAR_MC3/non_secure/portmacrocommon.h b/portable/IAR/ARM_STAR_MC3/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_STAR_MC3/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_STAR_MC3/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/port.c b/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/port.c
index 44a06555f..2bb4c1d44 100644
--- a/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/port.c
@@ -550,6 +550,11 @@ portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIV
     extern BaseType_t configWAKE_SECONDARY_CORES( void );
 
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+
+/**
+ * @brief Configures interrupt priorities.
+ */
+void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
diff --git a/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h b/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h
index 8e602a1d0..f1f19b358 100644
--- a/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h
+++ b/portable/IAR/ARM_STAR_MC3_NTZ/non_secure/portmacrocommon.h
@@ -30,8 +30,6 @@
 #ifndef PORTMACROCOMMON_H
 #define PORTMACROCOMMON_H
 
-#include "mpu_wrappers.h"
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     extern "C" {
@@ -153,11 +151,6 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     void vApplicationGenerateTaskRandomPacKey( uint32_t * pulTaskPacKey );
 
 #endif /* configENABLE_PAC */
-
-/**
- * @brief Configures interrupt priorities.
- */
-void vPortConfigureInterruptPriorities( void ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 /**
diff --git a/portable/MemMang/heap_5.c b/portable/MemMang/heap_5.c
index bf321304f..a54381b0c 100644
--- a/portable/MemMang/heap_5.c
+++ b/portable/MemMang/heap_5.c
@@ -284,7 +284,14 @@ void * pvPortMalloc( size_t xWantedSize )
                 {
                     pxPreviousBlock = pxBlock;
                     pxBlock = heapPROTECT_BLOCK_POINTER( pxBlock->pxNextFreeBlock );
-                    heapVALIDATE_BLOCK_POINTER( pxBlock );
+
+                    /* pxEnd is the end marker of the free list. It is located at
+                     * pucHeapHighAddress and is not part of the usable heap, so it
+                     * must be excluded from the heap block pointer validation. */
+                    if( pxBlock != pxEnd )
+                    {
+                        heapVALIDATE_BLOCK_POINTER( pxBlock );
+                    }
                 }
 
                 /* If the end marker was reached then a block of adequate size
diff --git a/portable/RVDS/ARM_CM4_MPU/port.c b/portable/RVDS/ARM_CM4_MPU/port.c
index 450b86211..8620325ca 100644
--- a/portable/RVDS/ARM_CM4_MPU/port.c
+++ b/portable/RVDS/ARM_CM4_MPU/port.c
@@ -48,9 +48,19 @@
 
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+/* Unprivileged critical sections are not supported when using MPU wrappers
+ * version 2. Default the option to 0 and reject an explicit value of 1. */
 #ifndef configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS
-    #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
-    #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    0
+    #else
+        #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security."
+        #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS    1
+    #endif
+#else
+    #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) )
+        #error configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not supported with MPU wrappers version 2 ( configUSE_MPU_WRAPPERS_V1 == 0 ).
+    #endif
 #endif
 
 /* Prototype of all Interrupt Service Routines (ISRs). */
diff --git a/queue.c b/queue.c
index 25613bf3f..37d953ac9 100644
--- a/queue.c
+++ b/queue.c
@@ -563,7 +563,7 @@ BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
         return pxNewQueue;
     }
 
-#endif /* configSUPPORT_STATIC_ALLOCATION */
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
 static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
diff --git a/stream_buffer.c b/stream_buffer.c
index 287bd0736..a4c6d268d 100644
--- a/stream_buffer.c
+++ b/stream_buffer.c
@@ -256,6 +256,15 @@ typedef struct StreamBufferDef_t
  */
 static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer ) PRIVILEGED_FUNCTION;
 
+/*
+ * Returns pdTRUE when the amount of buffered data should unblock a task that
+ * is waiting to receive data. Stream batching buffers require the buffered
+ * data to exceed the trigger level, whereas stream and message buffers unblock
+ * when the trigger level is reached.
+ */
+static BaseType_t prvBytesInBufferMeetTriggerLevel( const StreamBuffer_t * const pxStreamBuffer,
+                                                    size_t xBytesInBuffer ) PRIVILEGED_FUNCTION;
+
 /*
  * Add xCount bytes from pucData into the pxStreamBuffer's data storage area.
  * This function does not update the buffer's xHead pointer, so multiple writes
@@ -919,7 +928,7 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
         traceSTREAM_BUFFER_SEND( xStreamBuffer, xReturn );
 
         /* Was a task waiting for the data? */
-        if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
+        if( prvBytesInBufferMeetTriggerLevel( pxStreamBuffer, prvBytesInBuffer( pxStreamBuffer ) ) != pdFALSE )
         {
             prvSEND_COMPLETED( pxStreamBuffer );
         }
@@ -976,7 +985,7 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
     if( xReturn > ( size_t ) 0 )
     {
         /* Was a task waiting for the data? */
-        if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
+        if( prvBytesInBufferMeetTriggerLevel( pxStreamBuffer, prvBytesInBuffer( pxStreamBuffer ) ) != pdFALSE )
         {
             /* MISRA Ref 4.7.1 [Return value shall be checked] */
             /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#dir-47 */
@@ -1587,6 +1596,35 @@ static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer )
 }
 /*-----------------------------------------------------------*/
 
+static BaseType_t prvBytesInBufferMeetTriggerLevel( const StreamBuffer_t * const pxStreamBuffer,
+                                                    size_t xBytesInBuffer )
+{
+    BaseType_t xReturn = pdFALSE;
+
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_BATCHING_BUFFER ) != ( uint8_t ) 0 )
+    {
+        if( xBytesInBuffer > pxStreamBuffer->xTriggerLevelBytes )
+        {
+            xReturn = pdTRUE;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else if( xBytesInBuffer >= pxStreamBuffer->xTriggerLevelBytes )
+    {
+        xReturn = pdTRUE;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
+
+    return xReturn;
+}
+/*-----------------------------------------------------------*/
+
 static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
                                           uint8_t * const pucBuffer,
                                           size_t xBufferSizeBytes,
diff --git a/tasks.c b/tasks.c
index c596c475f..3c97d3c2f 100644
--- a/tasks.c
+++ b/tasks.c
@@ -148,7 +148,9 @@
  * global, rather than file scope.
  */
 #ifdef portREMOVE_STATIC_QUALIFIER
-    #define static
+    #define STATIC
+#else
+    #define STATIC    static
 #endif
 
 /* The name allocated to the Idle task.  This can be overridden by defining
@@ -473,23 +475,23 @@ typedef tskTCB TCB_t;
  * xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
  * doing so breaks some kernel aware debuggers and debuggers that rely on removing
  * the static qualifier. */
-PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /**< Prioritised ready tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList1;                         /**< Delayed tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList2;                         /**< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;              /**< Points to the delayed task list currently being used. */
-PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;      /**< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t xPendingReadyList;                         /**< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
+PRIVILEGED_DATA STATIC List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /**< Prioritised ready tasks. */
+PRIVILEGED_DATA STATIC List_t xDelayedTaskList1;                         /**< Delayed tasks. */
+PRIVILEGED_DATA STATIC List_t xDelayedTaskList2;                         /**< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
+PRIVILEGED_DATA STATIC List_t * volatile pxDelayedTaskList;              /**< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA STATIC List_t * volatile pxOverflowDelayedTaskList;      /**< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
+PRIVILEGED_DATA STATIC List_t xPendingReadyList;                         /**< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-    PRIVILEGED_DATA static List_t xTasksWaitingTermination; /**< Tasks that have been deleted - but their memory not yet freed. */
-    PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
+    PRIVILEGED_DATA STATIC List_t xTasksWaitingTermination; /**< Tasks that have been deleted - but their memory not yet freed. */
+    PRIVILEGED_DATA STATIC volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
 
 #endif
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-    PRIVILEGED_DATA static List_t xSuspendedTaskList; /**< Tasks that are currently suspended. */
+    PRIVILEGED_DATA STATIC List_t xSuspendedTaskList; /**< Tasks that are currently suspended. */
 
 #endif
 
@@ -500,21 +502,21 @@ PRIVILEGED_DATA static List_t xPendingReadyList;                         /**< Ta
 #endif
 
 /* Other file private variables. --------------------------------*/
-PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
-PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
-PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
-PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
-PRIVILEGED_DATA static volatile BaseType_t xYieldPendings[ configNUMBER_OF_CORES ] = { pdFALSE };
-PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
-PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
-PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
-PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandles[ configNUMBER_OF_CORES ];       /**< Holds the handles of the idle tasks.  The idle tasks are created automatically when the scheduler is started. */
+PRIVILEGED_DATA STATIC volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA STATIC volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
+PRIVILEGED_DATA STATIC volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA STATIC volatile BaseType_t xSchedulerRunning = pdFALSE;
+PRIVILEGED_DATA STATIC volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
+PRIVILEGED_DATA STATIC volatile BaseType_t xYieldPendings[ configNUMBER_OF_CORES ] = { pdFALSE };
+PRIVILEGED_DATA STATIC volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
+PRIVILEGED_DATA STATIC UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA STATIC volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
+PRIVILEGED_DATA STATIC TaskHandle_t xIdleTaskHandles[ configNUMBER_OF_CORES ];       /**< Holds the handles of the idle tasks.  The idle tasks are created automatically when the scheduler is started. */
 
 /* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
  * For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority
  * to determine the number of priority lists to read back from the remote target. */
-static const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
+STATIC const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
 
 /* Context switches are held pending while the scheduler is suspended.  Also,
  * interrupts must not manipulate the xStateListItem of a TCB, or any of the
@@ -528,14 +530,14 @@ static const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
  * Updates to uxSchedulerSuspended must be protected by both the task lock and the ISR lock
  * and must not be done from an ISR. Reads must be protected by either lock and may be done
  * from either an ISR or a task. */
-PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA STATIC volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) 0U;
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 
 /* Do not move these variables to function scope as doing so prevents the
  * code working with debuggers that need to remove the static qualifier. */
-PRIVILEGED_DATA static configRUN_TIME_COUNTER_TYPE ulTaskSwitchedInTime[ configNUMBER_OF_CORES ] = { 0U };    /**< Holds the value of a timer/counter the last time a task was switched in. */
-PRIVILEGED_DATA static volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime[ configNUMBER_OF_CORES ] = { 0U }; /**< Holds the total amount of execution time as defined by the run time counter clock. */
+PRIVILEGED_DATA STATIC configRUN_TIME_COUNTER_TYPE ulTaskSwitchedInTime[ configNUMBER_OF_CORES ] = { 0U };    /**< Holds the value of a timer/counter the last time a task was switched in. */
+PRIVILEGED_DATA STATIC volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime[ configNUMBER_OF_CORES ] = { 0U }; /**< Holds the total amount of execution time as defined by the run time counter clock. */
 
 #endif
 
@@ -546,7 +548,7 @@ PRIVILEGED_DATA static volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime[ conf
 /*
  * Creates the idle tasks during scheduler start.
  */
-static BaseType_t prvCreateIdleTasks( void );
+STATIC BaseType_t prvCreateIdleTasks( void );
 
 #if ( configNUMBER_OF_CORES > 1 )
 
@@ -554,7 +556,7 @@ static BaseType_t prvCreateIdleTasks( void );
  * Checks to see if another task moved the current task out of the ready
  * list while it was waiting to enter a critical section and yields, if so.
  */
-    static void prvCheckForRunStateChange( void );
+    STATIC void prvCheckForRunStateChange( void );
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
 
 #if ( configNUMBER_OF_CORES > 1 )
@@ -563,7 +565,7 @@ static BaseType_t prvCreateIdleTasks( void );
  * Yields a core, or cores if multiple priorities are not allowed to run
  * simultaneously, to allow the task pxTCB to run.
  */
-    static void prvYieldForTask( const TCB_t * pxTCB );
+    STATIC void prvYieldForTask( const TCB_t * pxTCB );
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
 
 #if ( configNUMBER_OF_CORES > 1 )
@@ -571,7 +573,7 @@ static BaseType_t prvCreateIdleTasks( void );
 /*
  * Selects the highest priority available task for the given core.
  */
-    static void prvSelectHighestPriorityTask( BaseType_t xCoreID );
+    STATIC void prvSelectHighestPriorityTask( BaseType_t xCoreID );
 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
 
 /**
@@ -581,7 +583,7 @@ static BaseType_t prvCreateIdleTasks( void );
  */
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-    static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+    STATIC BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 #endif /* INCLUDE_vTaskSuspend */
 
@@ -589,7 +591,7 @@ static BaseType_t prvCreateIdleTasks( void );
  * Utility to ready all the lists used by the scheduler.  This is called
  * automatically upon the creation of the first task.
  */
-static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
+STATIC void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
 
 /*
  * The idle task, which as all tasks is implemented as a never ending loop.
@@ -607,9 +609,11 @@ static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
  * void prvPassiveIdleTask( void *pvParameters );
  *
  */
-static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
+STATIC portTASK_FUNCTION_PROTO( prvIdleTask,
+                                pvParameters ) PRIVILEGED_FUNCTION;
 #if ( configNUMBER_OF_CORES > 1 )
-    static portTASK_FUNCTION_PROTO( prvPassiveIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
+    STATIC portTASK_FUNCTION_PROTO( prvPassiveIdleTask,
+                                    pvParameters ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
@@ -621,7 +625,7 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
  */
 #if ( INCLUDE_vTaskDelete == 1 )
 
-    static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
+    STATIC void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -630,13 +634,13 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
  * in the list of tasks waiting to be deleted.  If so the task is cleaned up
  * and its TCB deleted.
  */
-static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
+STATIC void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
 
 /*
  * The currently executing task is entering the Blocked state.  Add the task to
  * either the current or the overflow delayed task list.
  */
-static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
+STATIC void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                             const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
 
 /*
@@ -649,7 +653,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
  */
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-    static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
+    STATIC UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                      List_t * pxList,
                                                      eTaskState eState ) PRIVILEGED_FUNCTION;
 
@@ -661,7 +665,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
  */
 #if ( INCLUDE_xTaskGetHandle == 1 )
 
-    static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
+    STATIC TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                      const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
 
 #endif
@@ -673,7 +677,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
  */
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
 
-    static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
+    STATIC configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -689,7 +693,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
  */
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-    static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
+    STATIC TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -697,7 +701,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
  * Set xNextTaskUnblockTime to the time at which the next Blocked state task
  * will exit the Blocked state.
  */
-static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
+STATIC void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
 
 #if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
 
@@ -714,7 +718,7 @@ static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
  * Called after a Task_t structure has been allocated either statically or
  * dynamically to fill in the structure's members.
  */
-static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
+STATIC void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                   const char * const pcName,
                                   const configSTACK_DEPTH_TYPE uxStackDepth,
                                   void * const pvParameters,
@@ -727,14 +731,14 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
  * Called after a new task has been created and initialised to place the task
  * under the control of the scheduler.
  */
-static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
+STATIC void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 
 /*
  * Create a task with static buffer for both TCB and stack. Returns a handle to
  * the task if it is created successfully. Otherwise, returns NULL.
  */
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
-    static TCB_t * prvCreateStaticTask( TaskFunction_t pxTaskCode,
+    STATIC TCB_t * prvCreateStaticTask( TaskFunction_t pxTaskCode,
                                         const char * const pcName,
                                         const configSTACK_DEPTH_TYPE uxStackDepth,
                                         void * const pvParameters,
@@ -749,7 +753,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
  * a handle to the task if it is created successfully. Otherwise, returns NULL.
  */
 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-    static TCB_t * prvCreateRestrictedStaticTask( const TaskParameters_t * const pxTaskDefinition,
+    STATIC TCB_t * prvCreateRestrictedStaticTask( const TaskParameters_t * const pxTaskDefinition,
                                                   TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
 #endif /* #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
 
@@ -759,7 +763,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
  * returns NULL.
  */
 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-    static TCB_t * prvCreateRestrictedTask( const TaskParameters_t * const pxTaskDefinition,
+    STATIC TCB_t * prvCreateRestrictedTask( const TaskParameters_t * const pxTaskDefinition,
                                             TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
 #endif /* #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
 
@@ -768,7 +772,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
  * the task if it is created successfully. Otherwise, returns NULL.
  */
 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-    static TCB_t * prvCreateTask( TaskFunction_t pxTaskCode,
+    STATIC TCB_t * prvCreateTask( TaskFunction_t pxTaskCode,
                                   const char * const pcName,
                                   const configSTACK_DEPTH_TYPE uxStackDepth,
                                   void * const pvParameters,
@@ -783,7 +787,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
  */
 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
 
-    static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
+    STATIC void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -813,14 +817,14 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
  * and less than the supplied buffer length, the string has been
  * completely written.
  */
-    static size_t prvSnprintfReturnValueToCharsWritten( int iSnprintfReturnValue,
+    STATIC size_t prvSnprintfReturnValueToCharsWritten( int iSnprintfReturnValue,
                                                         size_t n );
 
 #endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( configNUMBER_OF_CORES > 1 )
-    static void prvCheckForRunStateChange( void )
+    STATIC void prvCheckForRunStateChange( void )
     {
         UBaseType_t uxPrevCriticalNesting;
         const TCB_t * pxThisTCB;
@@ -888,7 +892,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( configNUMBER_OF_CORES > 1 )
-    static void prvYieldForTask( const TCB_t * pxTCB )
+    STATIC void prvYieldForTask( const TCB_t * pxTCB )
     {
         BaseType_t xLowestPriorityToPreempt;
         BaseType_t xCurrentCoreTaskPriority;
@@ -1003,7 +1007,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( configNUMBER_OF_CORES > 1 )
-    static void prvSelectHighestPriorityTask( BaseType_t xCoreID )
+    STATIC void prvSelectHighestPriorityTask( BaseType_t xCoreID )
     {
         UBaseType_t uxCurrentPriority = uxTopReadyPriority;
         BaseType_t xTaskScheduled = pdFALSE;
@@ -1274,7 +1278,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
-    static TCB_t * prvCreateStaticTask( TaskFunction_t pxTaskCode,
+    STATIC TCB_t * prvCreateStaticTask( TaskFunction_t pxTaskCode,
                                         const char * const pcName,
                                         const configSTACK_DEPTH_TYPE uxStackDepth,
                                         void * const pvParameters,
@@ -1405,7 +1409,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-    static TCB_t * prvCreateRestrictedStaticTask( const TaskParameters_t * const pxTaskDefinition,
+    STATIC TCB_t * prvCreateRestrictedStaticTask( const TaskParameters_t * const pxTaskDefinition,
                                                   TaskHandle_t * const pxCreatedTask )
     {
         TCB_t * pxNewTCB;
@@ -1521,7 +1525,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-    static TCB_t * prvCreateRestrictedTask( const TaskParameters_t * const pxTaskDefinition,
+    STATIC TCB_t * prvCreateRestrictedTask( const TaskParameters_t * const pxTaskDefinition,
                                             TaskHandle_t * const pxCreatedTask )
     {
         TCB_t * pxNewTCB;
@@ -1640,7 +1644,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-    static TCB_t * prvCreateTask( TaskFunction_t pxTaskCode,
+    STATIC TCB_t * prvCreateTask( TaskFunction_t pxTaskCode,
                                   const char * const pcName,
                                   const configSTACK_DEPTH_TYPE uxStackDepth,
                                   void * const pvParameters,
@@ -1813,7 +1817,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
+STATIC void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                   const char * const pcName,
                                   const configSTACK_DEPTH_TYPE uxStackDepth,
                                   void * const pvParameters,
@@ -2049,7 +2053,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
 
 #if ( configNUMBER_OF_CORES == 1 )
 
-    static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
+    STATIC void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
     {
         /* Ensure interrupts don't access the task lists while the lists are being
          * updated. */
@@ -2127,7 +2131,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
 
 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
 
-    static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
+    STATIC void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
     {
         /* Ensure interrupts don't access the task lists while the lists are being
          * updated. */
@@ -2188,7 +2192,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
 
 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
 
-    static size_t prvSnprintfReturnValueToCharsWritten( int iSnprintfReturnValue,
+    STATIC size_t prvSnprintfReturnValueToCharsWritten( int iSnprintfReturnValue,
                                                         size_t n )
     {
         size_t uxCharsWritten;
@@ -3320,7 +3324,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-    static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
+    STATIC BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
     {
         BaseType_t xReturn = pdFALSE;
         const TCB_t * const pxTCB = xTask;
@@ -3548,7 +3552,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
 /*-----------------------------------------------------------*/
 
-static BaseType_t prvCreateIdleTasks( void )
+STATIC BaseType_t prvCreateIdleTasks( void )
 {
     BaseType_t xReturn = pdPASS;
     BaseType_t xCoreID;
@@ -3687,8 +3691,13 @@ static BaseType_t prvCreateIdleTasks( void )
                 /* Assign idle task to each core before SMP scheduler is running. */
                 xIdleTaskHandles[ xCoreID ]->xTaskRunState = xCoreID;
                 pxCurrentTCBs[ xCoreID ] = xIdleTaskHandles[ xCoreID ];
+                #if ( ( configIDLE_AFFINITY == 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
+                {
+                    xIdleTaskHandles[ xCoreID ]->uxCoreAffinityMask = ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID );
+                }
+                #endif
             }
-            #endif
+            #endif /* if ( configNUMBER_OF_CORES == 1 ) */
         }
     }
 
@@ -3957,7 +3966,7 @@ void vTaskSuspendAll( void )
 
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-    static TickType_t prvGetExpectedIdleTime( void )
+    STATIC TickType_t prvGetExpectedIdleTime( void )
     {
         TickType_t xReturn;
         BaseType_t xHigherPriorityReadyTasks = pdFALSE;
@@ -4252,7 +4261,7 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery )
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_xTaskGetHandle == 1 )
-    static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
+    STATIC TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                      const char pcNameToQuery[] )
     {
         TCB_t * pxReturn = NULL;
@@ -5026,11 +5035,11 @@ BaseType_t xTaskIncrementTick( void )
 
         traceENTER_xTaskGetApplicationTaskTag( xTask );
 
-        /* If xTask is NULL then set the calling task's hook. */
+        /* If xTask is NULL then get the calling task's hook. */
         pxTCB = prvGetTCBFromHandle( xTask );
         configASSERT( pxTCB != NULL );
 
-        /* Save the hook function in the TCB.  A critical section is required as
+        /* Access the hook function in the TCB.  A critical section is required as
          * the value can be accessed from an interrupt. */
         taskENTER_CRITICAL();
         {
@@ -5056,11 +5065,11 @@ BaseType_t xTaskIncrementTick( void )
 
         traceENTER_xTaskGetApplicationTaskTagFromISR( xTask );
 
-        /* If xTask is NULL then set the calling task's hook. */
+        /* If xTask is NULL then get the calling task's hook. */
         pxTCB = prvGetTCBFromHandle( xTask );
         configASSERT( pxTCB != NULL );
 
-        /* Save the hook function in the TCB.  A critical section is required as
+        /* Access the hook function in the TCB.  A critical section is required as
          * the value can be accessed from an interrupt. */
         /* MISRA Ref 4.7.1 [Return value shall be checked] */
         /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#dir-47 */
@@ -5739,7 +5748,8 @@ void vTaskMissedYield( void )
  */
 
 #if ( configNUMBER_OF_CORES > 1 )
-    static portTASK_FUNCTION( prvPassiveIdleTask, pvParameters )
+    STATIC portTASK_FUNCTION( prvPassiveIdleTask,
+                              pvParameters )
     {
         ( void ) pvParameters;
 
@@ -5809,7 +5819,8 @@ void vTaskMissedYield( void )
  *
  */
 
-static portTASK_FUNCTION( prvIdleTask, pvParameters )
+STATIC portTASK_FUNCTION( prvIdleTask,
+                          pvParameters )
 {
     /* Stop warnings. */
     ( void ) pvParameters;
@@ -6075,7 +6086,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 #endif /* portUSING_MPU_WRAPPERS */
 /*-----------------------------------------------------------*/
 
-static void prvInitialiseTaskLists( void )
+STATIC void prvInitialiseTaskLists( void )
 {
     UBaseType_t uxPriority;
 
@@ -6107,7 +6118,7 @@ static void prvInitialiseTaskLists( void )
 }
 /*-----------------------------------------------------------*/
 
-static void prvCheckTasksWaitingTermination( void )
+STATIC void prvCheckTasksWaitingTermination( void )
 {
     /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
 
@@ -6333,7 +6344,7 @@ static void prvCheckTasksWaitingTermination( void )
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-    static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
+    STATIC UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                      List_t * pxList,
                                                      eTaskState eState )
     {
@@ -6372,7 +6383,7 @@ static void prvCheckTasksWaitingTermination( void )
 
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
 
-    static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
+    STATIC configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
     {
         configSTACK_DEPTH_TYPE uxCount = 0U;
 
@@ -6470,7 +6481,7 @@ static void prvCheckTasksWaitingTermination( void )
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-    static void prvDeleteTCB( TCB_t * pxTCB )
+    STATIC void prvDeleteTCB( TCB_t * pxTCB )
     {
         /* This call is required specifically for the TriCore port.  It must be
          * above the vPortFree() calls.  The call is also used by ports/demos that
@@ -6523,7 +6534,7 @@ static void prvCheckTasksWaitingTermination( void )
 #endif /* INCLUDE_vTaskDelete */
 /*-----------------------------------------------------------*/
 
-static void prvResetNextTaskUnblockTime( void )
+STATIC void prvResetNextTaskUnblockTime( void )
 {
     if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
     {
@@ -7271,7 +7282,7 @@ static void prvResetNextTaskUnblockTime( void )
 
 #if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
 
-    static char * prvWriteNameToBuffer( char * pcBuffer,
+    STATIC char * prvWriteNameToBuffer( char * pcBuffer,
                                         const char * pcTaskName )
     {
         size_t x;
@@ -7351,7 +7362,7 @@ static void prvResetNextTaskUnblockTime( void )
         /* MISRA Ref 11.5.1 [Malloc memory assignment] */
         /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
         /* coverity[misra_c_2012_rule_11_5_violation] */
-        pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
+        pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
 
         if( pxTaskStatusArray != NULL )
         {
@@ -7520,7 +7531,7 @@ static void prvResetNextTaskUnblockTime( void )
         /* MISRA Ref 11.5.1 [Malloc memory assignment] */
         /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
         /* coverity[misra_c_2012_rule_11_5_violation] */
-        pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
+        pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
 
         if( pxTaskStatusArray != NULL )
         {
@@ -8587,7 +8598,7 @@ TickType_t uxTaskResetEventItemValue( void )
 #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
 /*-----------------------------------------------------------*/
 
-static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
+STATIC void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                             const BaseType_t xCanBlockIndefinitely )
 {
     TickType_t xTimeToWake;
@@ -8739,7 +8750,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
     #include "freertos_tasks_c_additions.h"
 
     #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
-        static void freertos_tasks_c_additions_init( void )
+        STATIC void freertos_tasks_c_additions_init( void )
         {
             FREERTOS_TASKS_C_ADDITIONS_INIT();
         }