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Adds support for RP2040 (with SMP) using the Raspberry Pi Pico SDK. FreeRTOS can be run on either single core, or in both cores in SMP mode. SDK semaphores, queues, mutexes, and sleep functions can be used freely to/from FreeRTOS tasks
This PR contains two commits; one which is identical to #341 (i.e. the changes required for RP2040 support without SMP), and a second commit that adds SMP support. It is probably advisable therefore to review #341 first.