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Fix ESFree code for userspace tasks

Ulrich Huber requested to merge feature/tickless into master

Fixes ESFree code not working with entrypoint of userspace applications. Also memory allocation for extended TCB on Heap was moved to stack variable with optional return of handle to user.

Current impl. does not handle setup of kernel tasks correctly. Flag or overloaded function should be created for that.

Dynamic task creation is also not handled by this - only tasks defined through toki-config.

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