update doc + enable multicore

config/FreeRTOSConfig.h

@@ -19,6 +19,7 @@
 #define configUSE_IDLE_HOOK                     0    // 1: Use Idle hook function
 #define configUSE_TICK_HOOK                     0    // 1: Use Tick hook function
 #define configIDLE_SHOULD_YIELD                 1    // 1: Idle task yields to same priority tasks
+#define configUSE_PASSIVE_IDLE_HOOK             0    // No passive idle hook (SMP-specific)
 
 // System Clock Configuration
 #define configCPU_CLOCK_HZ                      ((unsigned long)150000000) // CPU frequency: 150 MHz for RP2350
@@ -58,11 +59,27 @@
 
 // Hardware Specific Configuration
 #define configENABLE_FPU                        1    // 1: Enable Floating Point Unit
+#define configUSE_TASK_FPU_SUPPORT              1    // Enable FPU context save/restore
 #define configENABLE_TRUSTZONE                  0    // 1: Enable TrustZone
+#define configRUN_FREERTOS_SECURE_ONLY          0    // Non-secure mode to match port
 #define configENABLE_MPU                        0    // 1: Enable Memory Protection Unit (defined twice in original)
 #define configRUN_FREERTOS_SECURE_ONLY          1    // 1: Run in secure mode only
 #define configUSE_16_BIT_TICKS                  0    // 0: Use 32-bit ticks, 1: Use 16-bit ticks
 
+// SMP Configuration
+#define configNUMBER_OF_CORES                   2    // RP2350 has 2 cores
+#if configNUMBER_OF_CORES > 1
+#define configUSE_SMP                           1    // Enable Symmetric Multiprocessing
+#define configUSE_CORE_AFFINITY                 1
+#define configSMP_SPINLOCK_0                    0    // Spinlock 0 for SMP synchronization
+#define configSMP_SPINLOCK_1                    1    // Spinlock 1 (optional, depending on port)
+
+/* Fallback for missing portmacro.h definition */
+#ifndef taskDISABLE_INTERRUPTS
+#define taskDISABLE_INTERRUPTS() __asm volatile ("cpsid i" ::: "memory")
+#endif
+#endif
+
 // API Inclusion Configuration
 #define INCLUDE_vTaskPrioritySet                1    // Include task priority set API
 #define INCLUDE_uxTaskPriorityGet               1    // Include task priority get API