Migrate FreeRTOS to ESP-IDF 5.0

Legacy API and Data Types

Previously, the configENABLE_BACKWARD_COMPATIBILITY option was set by default, thus allowed pre FreeRTOS v8.0.0 function names and data types to be used. The configENABLE_BACKWARD_COMPATIBILITY is now disabled by default, thus legacy FreeRTOS names/types are no longer supportd by default. Users should either:

Update their code to remove usage of legacy FreeRTOS names/types
Enable the CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY to explicitly allow the usage of legacy names/types

Tasks Snapshot

The header task_snapshot.h has been removed from freertos/task.h. ESP-IDF developers should include "freertos/task_snapshot.h` in case they need tasks snapshot API.

The function vTaskGetSnapshot() now returns BaseType_t. Return value shall be pdTRUE on success and pdFALSE otherwise.

FreeRTOS Asserts

Previously FreeRTOS asserts were configured separately from the rest of the system using the FREERTOS_ASSERT kconfig option. This option has now been removed and the configuration is now done through COMPILER_OPTIMIZATION_ASSERTION_LEVEL.

Port Macro APIs

The file portmacro_deprecated.h which was added to maintain backward compatibility for deprecated APIs is removed. Users are advised to use the alternate functions for the deprecated APIs as listed below:

portENTER_CRITICAL_NESTED() is removed. Users should use the portSET_INTERRUPT_MASK_FROM_ISR() macro instead.
portEXIT_CRITICAL_NESTED() is removed. Users should use the portCLEAR_INTERRUPT_MASK_FROM_ISR() macro instead.
vPortCPUInitializeMutex() is removed. Users should use the spinlock_initialize() function instead.
vPortCPUAcquireMutex() is removed. Users should use the spinlock_acquire() function instead.
vPortCPUAcquireMutexTimeout() is removed. Users should use the spinlock_acquire() function instead.
vPortCPUReleaseMutex() is removed. Users should use the spinlock_release() function instead.

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