Merge branch 'feature/freertos_static_buffers' into 'master'

Backport the static allocation feature from FreeRTOS V9.0.0

This feature allows to use static buffers (or from a pool of memory which is not
controlled by FreeRTOS).
In order to reduce the impact of the changes, the static feature has only been added
to the queus (and in consequence to the semaphores and the mutexes) and the tasks.
The Timer task is always dynamically allocated and also the idle task(s), which in the
case of the ESP-IDF is ok, since we always need to have dynamic allocation enabled.

Original PR on Github: https://github.com/espressif/esp-idf/pull/21

See merge request !107