Add gitignore and port C parts

.cproject

@@ -1,195 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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-		<cconfiguration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.184569965">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.184569965" moduleId="org.eclipse.cdt.core.settings" name="Debug">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.184569965" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug">
-					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.184569965." name="/" resourcePath="">
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-							<builder buildPath="${workspace_loc:/ImcSbc_v2_Ref_Prj}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1036238435" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
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-									<listOptionValue builtIn="false" value="DEBUG"/>
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-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.73452608" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
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-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
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-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1626304407" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1301100550" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
-									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
-									<listOptionValue builtIn="false" value="STM32L552xx"/>
-								</option>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.1804277924" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="../Core/Inc"/>
-									<listOptionValue builtIn="false" value="../Drivers/STM32L5xx_HAL_Driver/Inc"/>
-									<listOptionValue builtIn="false" value="../Drivers/STM32L5xx_HAL_Driver/Inc/Legacy"/>
-									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32L5xx/Include"/>
-									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
-									<listOptionValue builtIn="false" value="../USB_Device/App"/>
-									<listOptionValue builtIn="false" value="../USB_Device/Target"/>
-									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Core/Inc"/>
-									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33_NTZ/non_secure"/>
-								</option>
-								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1798611431" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-							</tool>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.1420657856" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.3107744" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.1160693303" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.os" valueType="enumerated"/>
-							</tool>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.1738761371" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.897396850" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32L552ZETX_FLASH.ld}" valueType="string"/>
-								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.317796299" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
-								</inputType>
-							</tool>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.1940390089" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.323507188" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.397706110" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.1443241873" name="MCU Output Converter list file" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.177430046" name="MCU Output Converter Hex" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.235191394" name="MCU Output Converter Binary" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.1936891581" name="MCU Output Converter Verilog" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.208288332" name="MCU Output Converter Motorola S-rec" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec"/>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.1788143572" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
-						</toolChain>
-					</folderInfo>
-					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="USB_Device"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
-					</sourceEntries>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
-	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="ImcSbc_v2_Ref_Prj.null.1777799568" name="ImcSbc_v2_Ref_Prj"/>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="scannerConfiguration">
-		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1983219324;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1983219324.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1922591438;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1798611431">
-			<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.184569965;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.184569965.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.73452608;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.639796606">
-			<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-	</storageModule>
-	<storageModule moduleId="refreshScope"/>
-	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
-</cproject>

.gitignore

@@ -0,0 +1,6 @@
+.cproject
+.project
+.settings
+.mxproject
+.vscode
+/Debug/

.project

@@ -1,34 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>ImcSbc_v2_Ref_Prj</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-	</buildSpec>
-	<natures>
-		<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
-		<nature>org.eclipse.cdt.core.cnature</nature>
-		<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
-		<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
-		<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
-		<nature>com.st.stm32cube.ide.mcu.MCUEndUserDisabledTrustZoneProjectNature</nature>
-		<nature>com.st.stm32cube.ide.mcu.MCUNonSecureProjectNature</nature>
-		<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
-		<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
-	</natures>
-</projectDescription>

.settings/com.st.stm32cube.ide.mcu.sfrview.prefs

@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

.settings/language.settings.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<project>
-	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.184569965" name="Debug">
-		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
-			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
-			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1090172336588582191" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
-				<language-scope id="org.eclipse.cdt.core.gcc"/>
-				<language-scope id="org.eclipse.cdt.core.g++"/>
-			</provider>
-		</extension>
-	</configuration>
-	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1983219324" name="Release">
-		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
-			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
-			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1090172336588582191" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
-				<language-scope id="org.eclipse.cdt.core.gcc"/>
-				<language-scope id="org.eclipse.cdt.core.g++"/>
-			</provider>
-		</extension>
-	</configuration>
-</project>

.settings/stm32cubeide.project.prefs

@@ -1,4 +0,0 @@
-2F62501ED4689FB349E356AB974DBE57=FB817B72853C51EEBF4C854237BE7DC6
-8DF89ED150041C4CBC7CB9A9CAA90856=FB817B72853C51EEBF4C854237BE7DC6
-DC22A860405A8BF2F2C095E5B6529F12=25967EC125A96F9CAF0BA6D497B03E27
-eclipse.preferences.version=1

Core/Inc/ImC/imc_kernel.h

@@ -0,0 +1,22 @@
+#ifndef INC_IMC_IMC_KERNEL_H_
+#define INC_IMC_IMC_KERNEL_H_
+
+#define imcUSE_IMC_KERNEL 1
+
+#define imcMAX_NUM_TASKS 5
+#define imcSTACK_SIZE (1024)
+
+#define IMC_GLOBAL __attribute__((section(".imc_global")))
+
+#define imcREQUEST_CHECKPOINT() \
+    {                           \
+        __asm("  svc #1");      \
+    }
+
+#include "cmsis_os.h"
+
+void imcInit();
+
+osThreadId_t imcOsThreadNew(osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
+
+#endif

Core/Src/ImC/imc_kernel.c

@@ -0,0 +1,7 @@
+#include "ImC/imc_kernel.h"
+#include "stm32l5xx.h"
+
+void imcInit()
+{
+    FPU->FPCCR &= ~(FPU_FPCCR_LSPEN_Msk); // turn off lazy stacking
+}

Core/Src/main.c

@@ -24,6 +24,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "ImC/imc_api.h"
+#include "ImC/imc_kernel.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -254,6 +255,11 @@ int main(void)
   MX_USB_Device_Init();
   MX_ADC2_Init();
   /* USER CODE BEGIN 2 */
+
+  #if (imcUSE_IMC_KERNEL == 1)
+    imcInit();
+  #endif
+
   printf("\r\n\r\n\r\n");
   printf("**************************\r\n");
   printf("** TEST APP INFORMATION **\r\n");
@@ -290,7 +296,11 @@ int main(void)
   taskEPSHandle = osThreadNew(taskEPSRunner, NULL, &taskEPS_attributes);
 
   /* creation of taskSnap */
+  #if (imcUSE_IMC_KERNEL == 1)
+  taskSnapHandle = imcOsThreadNew(taskSnapRunner, NULL, &taskSnap_attributes);
+  #else
   taskSnapHandle = osThreadNew(taskSnapRunner, NULL, &taskSnap_attributes);
+  #endif
 
   /* creation of taskAI */
   taskAIHandle = osThreadNew(taskAIRunner, NULL, &taskAI_attributes);

Middlewares/Third_Party/FreeRTOS/Source/include/task.h

@@ -2533,6 +2533,18 @@ TaskHandle_t pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
  */
 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
 
+#if (imcUSE_IMC_KERNEL == 1)
+
+#include "ImC/imc_kernel.h"
+// #include "cmsis_os.h"
+
+void xTaskCheckpointCurrentTask(uint32_t lr_register) PRIVILEGED_FUNCTION;
+
+void vRecoverTask(TaskHandle_t tcb);
+
+// osThreadId_t imcOsThreadNew(osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
+
+#endif // imcUSE_IMC_KERNEL
 
 #ifdef __cplusplus
 }

Middlewares/Third_Party/FreeRTOS/Source/tasks.c

@@ -5307,4 +5307,80 @@ when performing module tests). */
 
 #endif
 
+#include "ImC/imc_kernel.h"
+#if (imcUSE_IMC_KERNEL == 1)
 
+#include "stm32l5xx.h"
+
+TCB_t xTcbSnapshots[imcMAX_NUM_TASKS][2] __attribute__((section(".kernel_nvm")));
+StackType_t xImcTaskStackBuffers[imcMAX_NUM_TASKS][2][imcSTACK_SIZE] __attribute__((section(".kernel_nvm")));
+uint8_t ucTaskSnapshotValid[imcMAX_NUM_TASKS] __attribute__((section(".kernel_nvm")));
+uint8_t ucLatestBufferIndex[imcMAX_NUM_TASKS] __attribute__((section(".kernel_nvm")));
+
+#define prvUSED_STACK_SIZE(tcb) ((tcb->pxStack + imcSTACK_SIZE - tcb->pxTopOfStack) * sizeof(StackType_t))
+#define prvUNUSED_STACK_SIZE(tcb) ((tcb->pxTopOfStack - tcb->pxStack) * sizeof(StackType_t))
+#define prvCHECKPOINT_STACK(buffer, start, size) (memcpy((void *)buffer + start - stack_start, (void *)start, size))
+
+void xTaskCheckpointCurrentTask(uint32_t lr_register)
+{
+	TCB_t *tcb = pxCurrentTCB;
+	UBaseType_t taskNumber = pxCurrentTCB->uxTCBNumber;
+	uint8_t currentBufferIndex = ucLatestBufferIndex[taskNumber];
+	uint8_t nextBufferIndex = currentBufferIndex == 0 ? 1 : 0;
+
+	// Relevant values
+	uint32_t stack_start = (uint32_t)pxCurrentTCB->pxStack;
+	// uint32_t stack_end = (uint32_t)stack_start + (imcSTACK_SIZE - 1) * sizeof(StackType_t);
+	uint32_t top_of_stack = (uint32_t)pxCurrentTCB->pxTopOfStack;
+	uint32_t checkpoint_size = 0;
+
+	// ========== start stack checkpointing ==========
+	// stack checkpoint consists of two operations: checkpointing the active frame and the inactive frames
+	StackType_t *buffer = xImcTaskStackBuffers[taskNumber][nextBufferIndex];
+	// 1: if no optimization is enabled, checkpoint the entire used stack (inactive + active)
+	checkpoint_size = prvUSED_STACK_SIZE(tcb);
+	prvCHECKPOINT_STACK(buffer, top_of_stack, checkpoint_size);
+	// ========== end stack checkpointing ==========
+
+	// checkpoint TCB
+	memcpy(&xTcbSnapshots[taskNumber][nextBufferIndex], tcb, sizeof(TCB_t));
+
+	__DMB();
+
+	ucLatestBufferIndex[taskNumber] = nextBufferIndex;
+	ucTaskSnapshotValid[taskNumber] = pdTRUE;
+
+	__DMB();
+}
+
+void vRecoverTask(TCB_t *tcb)
+{
+	UBaseType_t taskNumber = pxCurrentTCB->uxTCBNumber;
+	uint8_t bufferIndex = ucLatestBufferIndex[taskNumber];
+
+	// recover TCB
+	memcpy(tcb, &xTcbSnapshots[taskNumber][bufferIndex], sizeof(TCB_t));
+
+	// recover stack
+	memcpy((void *)tcb->pxTopOfStack, (void *)xImcTaskStackBuffers[taskNumber][bufferIndex] + prvUNUSED_STACK_SIZE(tcb), prvUSED_STACK_SIZE(tcb));
+
+	__DMB();
+}
+
+osThreadId_t imcOsThreadNew(osThreadFunc_t func, void *argument, const osThreadAttr_t *attr) {
+	osThreadId_t ret = osThreadNew(func, argument, attr);
+	TCB_t *tcb = (TCB_t *)attr->cb_mem;
+	UBaseType_t taskNumber = tcb->uxTCBNumber;
+
+	if (ucTaskSnapshotValid[taskNumber] == pdTRUE)
+	{
+		vRecoverTask(tcb);
+	}
+	else
+	{
+		ucLatestBufferIndex[taskNumber] = 0;
+	}
+	return ((osThreadId_t)ret);
+}
+
+#endif // imcUSE_IMC_KERNEL