diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
deleted file mode 100644
index f88d848a9..000000000
--- a/.github/workflows/docs.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-# YAML schema for GitHub Actions:
-# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/workflow-syntax-for-github-actions
-#
-# Helpful YAML parser to clarify YAML syntax:
-# https://yaml-online-parser.appspot.com/
-#
-# This workflow uses actions that are not certified by GitHub. They are provided by a third-party and are governed by
-# separate terms of service, privacy policy, and support documentation.
-#
-# This file contains the workflows that are run prior to merging a pull request.
-
-name: Documentation
-
-on:
-  push:
-    branches:
-      - 'develop'
-  pull_request:
-    branches:
-      - 'develop'
-
-  # Allow manually triggering of the workflow.
-  workflow_dispatch: {}
-
-env:
-  DOC_BUILDER_IMAGE: 'ghcr.io/xmos/doc_builder:v3.0.0'
-
-jobs:
-  build_documentation:
-    name: Build and package documentation
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout SDK
-        uses: actions/checkout@v2
-        with:
-          submodules: recursive
-      
-      - name: Pull documentation builder docker image
-        run: |
-          docker pull ${DOC_BUILDER_IMAGE}
-      
-      - name: Build documentation
-        run: |
-          docker run --rm -t -u "$(id -u):$(id -g)" -v ${{ github.workspace }}:/build -e PDF=1 -e REPO:/build -e EXCLUDE_PATTERNS=/build/doc/exclude_patterns.inc -e DOXYGEN_INCLUDE=/build/doc/Doxyfile.inc -e DOXYGEN_INPUT=ignore ${DOC_BUILDER_IMAGE}
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 2cef585d6..443b075e0 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,15 @@
 RTOS Framework change log
 =========================
 
+3.0.5
+-----
+
+  * FIXED: Added dummy definitions of vTaskCoreAffinitySet() and vTaskCoreAffinitySet() functions to
+    avoid warnings when configNUM_CORES is set to 1.
+  * UPDATED: Tested against fwk_io v3.3.0 updated from v3.0.1
+  * UPDATED: Tested against fwk_core v1.0.2 updated from v1.0.0
+  * ADDED: Runtime check for I2S RPC functions called for I2S Slave
+
 3.0.4
 -----
 
diff --git a/Jenkinsfile b/Jenkinsfile
index 2a96c2f88..30703aa00 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,11 +1,9 @@
-@Library('xmos_jenkins_shared_library@v0.20.0') _
+@Library('xmos_jenkins_shared_library@v0.27.0') _
 
 getApproval()
 
 pipeline {
-    agent {
-        label 'xcore.ai-explorer-us'
-    }
+    agent none
     options {
         disableConcurrentBuilds()
         skipDefaultCheckout()
@@ -32,117 +30,151 @@ pipeline {
         LOCAL_WIFI_PASS = credentials('hampton-office-network-wifi-password')
     }    
     stages {
-        stage('Checkout') {
-            steps {
-                checkout scm
-                sh 'git submodule update --init --recursive --depth 1 --jobs \$(nproc)'
-            }
-        }
-        stage('Build tests and host apps') {
-            steps {
-                script {
-                    uid = sh(returnStdout: true, script: 'id -u').trim()
-                    gid = sh(returnStdout: true, script: 'id -g').trim()
-                }
-                // pull docker
-                sh "docker pull ghcr.io/xmos/xcore_voice_tester:develop"
-                withTools(params.TOOLS_VERSION) {
-                    sh "bash tools/ci/build_rtos_tests.sh"
-                    sh "bash tools/ci/build_host_apps.sh"
-                }
-                // List built files for log
-                sh "ls -la dist/"
-                sh "ls -la dist_host/"
-            }
-        }
-        stage('Create virtual environment') {
-            steps {
-                // Create venv
-                sh "pyenv install -s $PYTHON_VERSION"
-                sh "~/.pyenv/versions/$PYTHON_VERSION/bin/python -m venv $VENV_DIRNAME"
-                // Install dependencies
-                withVenv() {
-                    sh "pip install git+https://github0.xmos.com/xmos-int/xtagctl.git"
-                    sh "pip install -r test/requirements.txt"
-                }
-            }
-        }
-        stage('Cleanup xtagctl') {
-            steps {
-                // Cleanup any xtagctl cruft from previous failed runs
-                withTools(params.TOOLS_VERSION) {
-                    withVenv {
-                        sh "xtagctl reset_all $RTOS_TEST_RIG_TARGET"
+        stage('Build and Docs') {
+            parallel {
+                stage('Build Docs') {
+                    agent { label "docker" }
+                    environment { XMOSDOC_VERSION = "v4.0" }
+                    steps {
+                        checkout scm
+                        sh 'git submodule update --init --recursive --depth 1'
+                        sh "docker pull ghcr.io/xmos/xmosdoc:$XMOSDOC_VERSION"
+                        sh """docker run -u "\$(id -u):\$(id -g)" \
+                            --rm \
+                            -v ${WORKSPACE}:/build \
+                            ghcr.io/xmos/xmosdoc:$XMOSDOC_VERSION -v"""
+                        archiveArtifacts artifacts: "doc/_build/**", allowEmptyArchive: true
                     }
-                }
-                sh "rm -f ~/.xtag/status.lock ~/.xtag/acquired"
-            }
-        }
-        stage('Run RTOS Drivers WiFi test') {
-            steps {
-                withTools(params.TOOLS_VERSION) {
-                    withVenv {
-                        script {
-                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
-                                sh "test/rtos_drivers/wifi/check_wifi.sh " + adapterIDs[0]
-                            }
-                            sh "pytest test/rtos_drivers/wifi"
+                    post {
+                        cleanup {
+                            xcoreCleanSandbox()
                         }
                     }
                 }
-            }
-        }
-        stage('Run RTOS Drivers HIL test') {
-            steps {
-                withTools(params.TOOLS_VERSION) {
-                    withVenv {
-                        script {
-                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
-                                sh "test/rtos_drivers/hil/check_drivers_hil.sh " + adapterIDs[0]
+
+                stage('Build and Test') {
+                    when {
+                        expression { !env.GH_LABEL_DOC_ONLY.toBoolean() }
+                    }
+                    agent {
+                        label 'xcore.ai-explorer-us'
+                    }
+                    stages {
+                        stage('Checkout') {
+                            steps {
+                                checkout scm
+                                sh 'git submodule update --init --recursive --depth 1 --jobs \$(nproc)'
                             }
-                            sh "pytest test/rtos_drivers/hil"
                         }
-                    }
-                }
-            }
-        }
-        stage('Run RTOS Drivers HIL_Add test') {
-            steps {
-                withTools(params.TOOLS_VERSION) {
-                    withVenv {
-                        script {
-                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
-                                sh "test/rtos_drivers/hil_add/check_drivers_hil_add.sh " + adapterIDs[0]
+                        stage('Build tests and host apps') {
+                            steps {
+                                script {
+                                    uid = sh(returnStdout: true, script: 'id -u').trim()
+                                    gid = sh(returnStdout: true, script: 'id -g').trim()
+                                }
+                                // pull docker
+                                sh "docker pull ghcr.io/xmos/xcore_voice_tester:develop"
+                                withTools(params.TOOLS_VERSION) {
+                                    sh "bash tools/ci/build_rtos_tests.sh"
+                                    sh "bash tools/ci/build_host_apps.sh"
+                                }
+                                // List built files for log
+                                sh "ls -la dist/"
+                                sh "ls -la dist_host/"
                             }
-                            sh "pytest test/rtos_drivers/hil_add"
                         }
-                    }
-                }
-            }
-        }
-        stage('Run RTOS Drivers USB test') {
-            steps {
-                withTools(params.TOOLS_VERSION) {
-                    withVenv {
-                        script {
-                            uid = sh(returnStdout: true, script: 'id -u').trim()
-                            gid = sh(returnStdout: true, script: 'id -g').trim()
-                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
-                                sh "docker run --rm -u $uid:$gid --privileged -v /dev:/dev -w /fwk_rtos -v $WORKSPACE:/fwk_rtos ghcr.io/xmos/xcore_voice_tester:develop bash -l test/rtos_drivers/usb/check_usb.sh " + adapterIDs[0]
+                        stage('Create virtual environment') {
+                            steps {
+                                // Create venv
+                                sh "pyenv install -s $PYTHON_VERSION"
+                                sh "~/.pyenv/versions/$PYTHON_VERSION/bin/python -m venv $VENV_DIRNAME"
+                                // Install dependencies
+                                withVenv() {
+                                    sh "pip install git+https://github0.xmos.com/xmos-int/xtagctl.git"
+                                    sh "pip install -r test/requirements.txt"
+                                }
+                            }
+                        }
+                        stage('Cleanup xtagctl') {
+                            steps {
+                                // Cleanup any xtagctl cruft from previous failed runs
+                                withTools(params.TOOLS_VERSION) {
+                                    withVenv {
+                                        sh "xtagctl reset_all $RTOS_TEST_RIG_TARGET"
+                                    }
+                                }
+                                sh "rm -f ~/.xtag/status.lock ~/.xtag/acquired"
+                            }
+                        }
+                        stage('Run RTOS Drivers WiFi test') {
+                            steps {
+                                withTools(params.TOOLS_VERSION) {
+                                    withVenv {
+                                        script {
+                                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
+                                                sh "test/rtos_drivers/wifi/check_wifi.sh " + adapterIDs[0]
+                                            }
+                                            sh "pytest test/rtos_drivers/wifi"
+                                        }
+                                    }
+                                }
                             }
-                            sh "pytest test/rtos_drivers/usb"
+                        }
+                        stage('Run RTOS Drivers HIL test') {
+                            steps {
+                                withTools(params.TOOLS_VERSION) {
+                                    withVenv {
+                                        script {
+                                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
+                                                sh "test/rtos_drivers/hil/check_drivers_hil.sh " + adapterIDs[0]
+                                            }
+                                            sh "pytest test/rtos_drivers/hil"
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                        stage('Run RTOS Drivers HIL_Add test') {
+                            steps {
+                                withTools(params.TOOLS_VERSION) {
+                                    withVenv {
+                                        script {
+                                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
+                                                sh "test/rtos_drivers/hil_add/check_drivers_hil_add.sh " + adapterIDs[0]
+                                            }
+                                            sh "pytest test/rtos_drivers/hil_add"
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                        stage('Run RTOS Drivers USB test') {
+                            steps {
+                                withTools(params.TOOLS_VERSION) {
+                                    withVenv {
+                                        script {
+                                            uid = sh(returnStdout: true, script: 'id -u').trim()
+                                            gid = sh(returnStdout: true, script: 'id -g').trim()
+                                            withXTAG(["$RTOS_TEST_RIG_TARGET"]) { adapterIDs ->
+                                                sh "docker run --rm -u $uid:$gid --privileged -v /dev:/dev -w /fwk_rtos -v $WORKSPACE:/fwk_rtos ghcr.io/xmos/xcore_voice_tester:develop bash -l test/rtos_drivers/usb/check_usb.sh " + adapterIDs[0]
+                                            }
+                                            sh "pytest test/rtos_drivers/usb"
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    post {
+                        cleanup {
+                            // cleanWs removes all output and artifacts of the Jenkins pipeline
+                            //   Comment out this post section to leave the workspace which can be useful for running items on the Jenkins agent. 
+                            //   However, beware that this pipeline will not run if the workspace is not manually cleaned.
+                            xcoreCleanSandbox()
                         }
                     }
                 }
             }
         }
     }
-    post {
-        cleanup {
-            // cleanWs removes all output and artifacts of the Jenkins pipeline
-            //   Comment out this post section to leave the workspace which can be useful for running items on the Jenkins agent. 
-            //   However, beware that this pipeline will not run if the workspace is not manually cleaned.
-            cleanWs()
-        }
-    }
 }
diff --git a/README.md b/README.md
index 192258023..2183a09ff 100644
--- a/README.md
+++ b/README.md
@@ -32,7 +32,7 @@ Supported RTOS stacks and software services include:
 - TinyUSB
 - Generic processing pipeline
 - Inferencing
-- Device control 
+- Device control
 - FatFS
 - HTTP
 - TLS
@@ -55,15 +55,17 @@ Some dependent components are included as git submodules. These can be obtained
 
 ## Testing
 
-Several tests for the RTOS framework modules exist in the [test folder](https://github.com/xmos/fwk_rtos/tree/develop/test).  
+Several tests for the RTOS framework modules exist in the [test folder](https://github.com/xmos/fwk_rtos/tree/develop/test).
 
 ## Documentation
 
-Information on building the documentation can be found in the docs [README](https://github.com/xmos/fwk_rtos/blob/develop/doc/README.rst).
+This folder contains source files for the documentation and is intended for XMOS users. Pre-built documentation is published on https://www.xmos.com.
+
+The sources do not render well in GitHub or an RST viewer.
 
 ## License
 
 This Software is subject to the terms of the [XMOS Public Licence: Version 1](https://github.com/xmos/fwk_rtos/blob/develop/LICENSE.rst)
 
-Third party copyrighted code is specified in the fwk_rtos [Copyrights and Licenses](https://github.com/xmos/fwk_rtos/blob/develop/doc/copyright.rst).  
+Third party copyrighted code is specified in the fwk_rtos [Copyrights and Licenses](https://github.com/xmos/fwk_rtos/blob/develop/doc/copyright.rst).
 
diff --git a/doc/README.rst b/doc/README.rst
index 5a431d398..8c9fe66a7 100644
--- a/doc/README.rst
+++ b/doc/README.rst
@@ -2,6 +2,9 @@
 Documentation Source
 ####################
 
+This folder contains source files for the documentation. The sources do not render well in GitHub or an RST viewer.
+In addition, some information is not visible at all and some links will not be functional.
+
 **********************
 Building Documentation
 **********************
@@ -10,13 +13,7 @@ Building Documentation
 Prerequisites
 =============
 
-Install `Docker <https://www.docker.com/>`_.
-
-Pull the docker container:
-
-.. code-block:: console
-
-    $ docker pull ghcr.io/xmos/doc_builder:latest
+Use the `xmosdoc tool <https://github.com/xmos/xmosdoc>`_ either via docker or install it into a pip environment.
 
 ========
 Building
@@ -26,4 +23,41 @@ To build the documentation, run the following command in the root of the reposit
 
 .. code-block:: console
 
-    $ docker run --rm -t -u "$(id -u):$(id -g)" -v $(pwd):/build -e PDF=1 -e REPO:/build -e DOXYGEN_INCLUDE=/build/doc/Doxyfile.inc -e EXCLUDE_PATTERNS=/build/doc/exclude_patterns.inc -e DOXYGEN_INPUT=ignore ghcr.io/xmos/doc_builder:latest
+    # via pip package
+    xmosdoc clean html latex
+    # via docker
+    $ docker run --rm -t -u "$(id -u):$(id -g)" -v $(pwd):/build ghcr.io/xmos/xmosdoc clean html latex
+
+HTML document output is saved in the ``doc/_build/html`` folder.  Open ``index.html`` to preview the saved documentation.
+
+Please refer to the ``xmosdoc`` documentation for a complete guide on how to use the tool.
+
+**********************
+Adding a New Component
+**********************
+
+Follow the following steps to add a new component.
+
+- Add an entry for the new component's top-level document to the appropriate TOC in the documents tree.
+- If the new component uses `Doxygen`, append the appropriate path(s) to the INPUT variable in `Doxyfile.inc`.
+- If the new component includes `.rst` files that should **not** be part of the documentation build, append the appropriate pattern(s) to `exclude_patterns.inc`.
+
+***
+FAQ
+***
+
+Q: Is it possible to build just a subset of the documentation?
+
+A: Yes, however it is not recommended at this time.
+
+Q: Is it possible to used the ``livehtml`` feature of Sphinx?
+
+A: Yes, run xmosdoc with the ``--auto`` option.
+
+Q: Where can I learn more about the XMOS ``xmosdoc`` tools?
+
+A: See the https://github.com/xmos/xmosdoc repository.  See the ``xmosdoc`` repository README for details on additional build options.
+
+Q: How do I suggest enhancements to the XMOS ``xmosdoc`` tool?
+
+A: Create a new issue here: https://github.com/xmos/xmosdoc/issues
diff --git a/doc/build_system_guide/introduction.rst b/doc/build_system_guide/introduction.rst
index eeeeaa921..29c9c7433 100644
--- a/doc/build_system_guide/introduction.rst
+++ b/doc/build_system_guide/introduction.rst
@@ -1,4 +1,3 @@
-.. include:: ../substitutions.rst
 
 .. _build_system_guide:
 
diff --git a/doc/build_system_guide/targets.rst b/doc/build_system_guide/targets.rst
index acbba1c9d..0b42db0bd 100644
--- a/doc/build_system_guide/targets.rst
+++ b/doc/build_system_guide/targets.rst
@@ -1,4 +1,3 @@
-.. include:: ../substitutions.rst
 
 .. _build_system_targets:
 
diff --git a/doc/exclude_patterns.inc b/doc/exclude_patterns.inc
index 3c17de6ce..27cc18955 100644
--- a/doc/exclude_patterns.inc
+++ b/doc/exclude_patterns.inc
@@ -1,10 +1,13 @@
 # The following patterns are to be excluded from the documentation build
-documents/README.rst
 tools
 projects
 test
 xmos_cmake_toolchain
+modules/drivers
 modules/FreeRTOS
 modules/sw_services
 build
 build_*
+CHANGELOG.rst
+LICENSE.rst
+**README* 
\ No newline at end of file
diff --git a/doc/programming_guide/common_issues.rst b/doc/programming_guide/common_issues.rst
index 1b8ed1df8..2d2a1b6bb 100644
--- a/doc/programming_guide/common_issues.rst
+++ b/doc/programming_guide/common_issues.rst
@@ -1,4 +1,3 @@
-.. include:: ../substitutions.rst
 
 #############
 Common Issues
diff --git a/doc/programming_guide/faq.rst b/doc/programming_guide/faq.rst
index cc54426ee..13875f13b 100644
--- a/doc/programming_guide/faq.rst
+++ b/doc/programming_guide/faq.rst
@@ -1,4 +1,3 @@
-.. include:: ../substitutions.rst
 
 ####
 FAQs
diff --git a/doc/programming_guide/platform.rst b/doc/programming_guide/platform.rst
index a28ba5bba..9a42d8128 100644
--- a/doc/programming_guide/platform.rst
+++ b/doc/programming_guide/platform.rst
@@ -27,4 +27,4 @@ The `Programming Guide <https://www.xmos.ai/documentation/XM-014363-PC-LATEST/ht
 XTC Tools
 *********
 
-The xcore processors are accompanied by the `XTC Tools <https://www.xmos.ai/documentation/XM-014363-PC-LATEST/html/tools-guide/index.html#tools-guide>`_. As well as providing a powerful toolchain for application development, the toolkit assists with application deployment and upgrade.
+The xcore processors are accompanied by the `XTC Tools <https://www.xmos.ai/documentation/XM-014363-PC-LATEST/html/tools-guide/index.html#tools-guide>`__. As well as providing a powerful toolchain for application development, the toolkit assists with application deployment and upgrade.
diff --git a/doc/programming_guide/reference/api.rst b/doc/programming_guide/reference/api.rst
index f14fd6789..8b60ac6ae 100644
--- a/doc/programming_guide/reference/api.rst
+++ b/doc/programming_guide/reference/api.rst
@@ -1,4 +1,3 @@
-.. include:: ../../substitutions.rst
 
 #############
 API Reference
diff --git a/doc/programming_guide/reference/rtos_drivers/i2c/i2c.rst b/doc/programming_guide/reference/rtos_drivers/i2c/i2c.rst
index f04a3766a..2e576a838 100644
--- a/doc/programming_guide/reference/rtos_drivers/i2c/i2c.rst
+++ b/doc/programming_guide/reference/rtos_drivers/i2c/i2c.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 #################
 |I2C| RTOS Driver
diff --git a/doc/programming_guide/reference/rtos_drivers/i2c/i2c_master.rst b/doc/programming_guide/reference/rtos_drivers/i2c/i2c_master.rst
index d0de76a40..f1b2dede3 100644
--- a/doc/programming_guide/reference/rtos_drivers/i2c/i2c_master.rst
+++ b/doc/programming_guide/reference/rtos_drivers/i2c/i2c_master.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 ########################
 |I2C| Master RTOS Driver
diff --git a/doc/programming_guide/reference/rtos_drivers/i2c/i2c_slave.rst b/doc/programming_guide/reference/rtos_drivers/i2c/i2c_slave.rst
index 15a135002..22988b636 100644
--- a/doc/programming_guide/reference/rtos_drivers/i2c/i2c_slave.rst
+++ b/doc/programming_guide/reference/rtos_drivers/i2c/i2c_slave.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 #######################
 |I2C| Slave RTOS Driver
diff --git a/doc/programming_guide/reference/rtos_drivers/i2s/i2s.rst b/doc/programming_guide/reference/rtos_drivers/i2s/i2s.rst
index b804b0a1c..bc43ed619 100644
--- a/doc/programming_guide/reference/rtos_drivers/i2s/i2s.rst
+++ b/doc/programming_guide/reference/rtos_drivers/i2s/i2s.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 #################
 |I2S| RTOS Driver
diff --git a/doc/programming_guide/reference/rtos_drivers/i2s/i2s_master.rst b/doc/programming_guide/reference/rtos_drivers/i2s/i2s_master.rst
index 2d3e354be..9039db15f 100644
--- a/doc/programming_guide/reference/rtos_drivers/i2s/i2s_master.rst
+++ b/doc/programming_guide/reference/rtos_drivers/i2s/i2s_master.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 *******************************
 |I2S| Master Initialization API
diff --git a/doc/programming_guide/reference/rtos_drivers/i2s/i2s_slave.rst b/doc/programming_guide/reference/rtos_drivers/i2s/i2s_slave.rst
index de0ce3dc6..a3523595d 100644
--- a/doc/programming_guide/reference/rtos_drivers/i2s/i2s_slave.rst
+++ b/doc/programming_guide/reference/rtos_drivers/i2s/i2s_slave.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 ******************************
 |I2S| Slave Initialization API
diff --git a/doc/programming_guide/reference/rtos_drivers/trace.rst b/doc/programming_guide/reference/rtos_drivers/trace.rst
index e46036a5c..5384b08a6 100644
--- a/doc/programming_guide/reference/rtos_drivers/trace.rst
+++ b/doc/programming_guide/reference/rtos_drivers/trace.rst
@@ -105,7 +105,7 @@ by the Tracealyzer graphical tool either as a post processing step or live.
     `Recording Settings`.
 
 For general usage of Tracealyzer please refer to the Percepio's documentation here:
-`Manual <https://percepio.com/docs/FreeRTOS/manual/index.html#Introduction___Welcome_to_Tracealyzer>`_
+`Manual <https://percepio.com/getstarted/latest/html/freertos.html>`_
 
 **********
 ASCII Mode
diff --git a/doc/programming_guide/reference/rtos_drivers/uart/uart.rst b/doc/programming_guide/reference/rtos_drivers/uart/uart.rst
index 0460d260b..22e5c0b59 100644
--- a/doc/programming_guide/reference/rtos_drivers/uart/uart.rst
+++ b/doc/programming_guide/reference/rtos_drivers/uart/uart.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
    
 ################
 UART RTOS Driver
diff --git a/doc/programming_guide/reference/rtos_drivers/uart/uart_rx.rst b/doc/programming_guide/reference/rtos_drivers/uart/uart_rx.rst
index bb2e447da..5370ba88e 100644
--- a/doc/programming_guide/reference/rtos_drivers/uart/uart_rx.rst
+++ b/doc/programming_guide/reference/rtos_drivers/uart/uart_rx.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 ###################
 UART Rx RTOS Driver
diff --git a/doc/programming_guide/reference/rtos_drivers/uart/uart_tx.rst b/doc/programming_guide/reference/rtos_drivers/uart/uart_tx.rst
index 686c6bf87..e5dc8f4f7 100644
--- a/doc/programming_guide/reference/rtos_drivers/uart/uart_tx.rst
+++ b/doc/programming_guide/reference/rtos_drivers/uart/uart_tx.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
    
 ###################
 UART Tx RTOS Driver
diff --git a/doc/programming_guide/reference/rtos_services/device_control/device_control_host_api.rst b/doc/programming_guide/reference/rtos_services/device_control/device_control_host_api.rst
index 382f8f237..35afff91d 100644
--- a/doc/programming_guide/reference/rtos_services/device_control/device_control_host_api.rst
+++ b/doc/programming_guide/reference/rtos_services/device_control/device_control_host_api.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 #######################
 Device Control Host API
diff --git a/doc/programming_guide/reference/rtos_services/device_control/device_control_protocol.rst b/doc/programming_guide/reference/rtos_services/device_control/device_control_protocol.rst
index 7e31c2f31..8ced2943a 100644
--- a/doc/programming_guide/reference/rtos_services/device_control/device_control_protocol.rst
+++ b/doc/programming_guide/reference/rtos_services/device_control/device_control_protocol.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 ##########################
 Command Transport Protocol
diff --git a/doc/programming_guide/reference/rtos_services/device_control/device_control_shared.rst b/doc/programming_guide/reference/rtos_services/device_control/device_control_shared.rst
index 8a070f63a..e4e237d0d 100644
--- a/doc/programming_guide/reference/rtos_services/device_control/device_control_shared.rst
+++ b/doc/programming_guide/reference/rtos_services/device_control/device_control_shared.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 #########################
 Device Control Shared API
diff --git a/doc/programming_guide/reference/rtos_services/device_control/device_control_xcore.rst b/doc/programming_guide/reference/rtos_services/device_control/device_control_xcore.rst
index f21306d6f..8014e5608 100644
--- a/doc/programming_guide/reference/rtos_services/device_control/device_control_xcore.rst
+++ b/doc/programming_guide/reference/rtos_services/device_control/device_control_xcore.rst
@@ -1,4 +1,3 @@
-.. include:: ../../../../substitutions.rst
 
 ########################
 Device Control XCORE API
diff --git a/doc/programming_guide/tutorials/application_design.rst b/doc/programming_guide/tutorials/application_design.rst
index 145cefc62..d0ca87049 100644
--- a/doc/programming_guide/tutorials/application_design.rst
+++ b/doc/programming_guide/tutorials/application_design.rst
@@ -1,4 +1,3 @@
-.. include:: ../../substitutions.rst
 
 #######################
 RTOS Application Design
diff --git a/doc/programming_guide/tutorials/application_dfu_usage.rst b/doc/programming_guide/tutorials/application_dfu_usage.rst
index 06a13cc60..2919acade 100644
--- a/doc/programming_guide/tutorials/application_dfu_usage.rst
+++ b/doc/programming_guide/tutorials/application_dfu_usage.rst
@@ -1,4 +1,3 @@
-.. include:: ../../substitutions.rst
 
 ####################
 RTOS Application DFU
diff --git a/doc/programming_guide/tutorials/application_programming.rst b/doc/programming_guide/tutorials/application_programming.rst
index 05df07944..b4f71defd 100644
--- a/doc/programming_guide/tutorials/application_programming.rst
+++ b/doc/programming_guide/tutorials/application_programming.rst
@@ -1,4 +1,3 @@
-.. include:: ../../substitutions.rst
 
 ################################
 FreeRTOS Application Programming
diff --git a/doc/programming_guide/tutorials/bsp_config.rst b/doc/programming_guide/tutorials/bsp_config.rst
index 7e0834364..92467094a 100644
--- a/doc/programming_guide/tutorials/bsp_config.rst
+++ b/doc/programming_guide/tutorials/bsp_config.rst
@@ -1,4 +1,3 @@
-.. include:: ../../substitutions.rst
 
 ############################
 Board Support Configurations
diff --git a/doc/programming_guide/tutorials/tutorials.rst b/doc/programming_guide/tutorials/tutorials.rst
index d95bd6ce9..b57216660 100644
--- a/doc/programming_guide/tutorials/tutorials.rst
+++ b/doc/programming_guide/tutorials/tutorials.rst
@@ -6,5 +6,6 @@ Tutorials
    :maxdepth: 2
 
    application_programming
+   application_design
    bsp_config
    application_dfu_usage
diff --git a/doc/shared/legal.rst b/doc/shared/legal.rst
index 5e374ae55..b0b45b002 100644
--- a/doc/shared/legal.rst
+++ b/doc/shared/legal.rst
@@ -1,6 +1,16 @@
 .. _fwk_rtos_copyright:
 
-.. include:: ../_templates/disclaimer.rst
+.. only:: html
+
+    Copyright & Disclaimer
+    ======================
+    
+    |XMOS copyright|
+    
+    |XMOS disclaimer|
+    
+    |XMOS trademarks|
+
 
 Licenses
 ========
diff --git a/doc/src_html/.gitkeep b/doc/src_html/.gitkeep
deleted file mode 100644
index bfd5b701d..000000000
--- a/doc/src_html/.gitkeep
+++ /dev/null
@@ -1 +0,0 @@
-# This directory needs to exist for the doc builder
\ No newline at end of file
diff --git a/doc/substitutions.rst b/doc/substitutions.rst
deleted file mode 100644
index a06ed94e8..000000000
--- a/doc/substitutions.rst
+++ /dev/null
@@ -1,2 +0,0 @@
-.. |I2C| replace:: I\ :sup:`2`\ C
-.. |I2S| replace:: I\ :sup:`2`\ S
diff --git a/modules/drivers/i2c/src/rtos_i2c_master_rpc.c b/modules/drivers/i2c/src/rtos_i2c_master_rpc.c
index 3e7844ee0..29107ba4a 100644
--- a/modules/drivers/i2c/src/rtos_i2c_master_rpc.c
+++ b/modules/drivers/i2c/src/rtos_i2c_master_rpc.c
@@ -38,9 +38,20 @@ static i2c_res_t i2c_master_remote_write(
             RPC_PARAM_LIST_END
     };
 
-    rpc_client_call_generic(
-            host_address->intertile_ctx, host_address->port, fcode_write, rpc_param_desc,
-            &host_ctx_ptr, &device_addr, buf, &n, num_bytes_sent, &send_stop_bit, &ret);
+    if(num_bytes_sent != NULL)
+    {
+        rpc_client_call_generic(
+                host_address->intertile_ctx, host_address->port, fcode_write, rpc_param_desc,
+                &host_ctx_ptr, &device_addr, buf, &n, num_bytes_sent, &send_stop_bit, &ret);
+    }
+    else
+    {
+        size_t tmp;
+        rpc_client_call_generic(
+                host_address->intertile_ctx, host_address->port, fcode_write, rpc_param_desc,
+                &host_ctx_ptr, &device_addr, buf, &n, &tmp, &send_stop_bit, &ret);
+
+    }
 
     return ret;
 }
diff --git a/modules/drivers/i2s/api/rtos_i2s.h b/modules/drivers/i2s/api/rtos_i2s.h
index 18d2d31d3..9c25247e2 100644
--- a/modules/drivers/i2s/api/rtos_i2s.h
+++ b/modules/drivers/i2s/api/rtos_i2s.h
@@ -10,7 +10,7 @@
  * The public API for using the RTOS I2S driver.
  * @{
  */
-
+#include <stdbool.h>
 #include <xcore/clock.h>
 #include <xcore/port.h>
 #include "i2s.h"
@@ -148,6 +148,7 @@ struct rtos_i2s_struct{
         volatile size_t required_available_count;
     } recv_buffer;
     uint8_t isr_cmd;
+    bool is_slave;
 };
 
 #include "rtos_i2s_rpc.h"
diff --git a/modules/drivers/i2s/src/rtos_i2s.c b/modules/drivers/i2s/src/rtos_i2s.c
index 852e808e5..c09fccbc3 100644
--- a/modules/drivers/i2s/src/rtos_i2s.c
+++ b/modules/drivers/i2s/src/rtos_i2s.c
@@ -397,6 +397,7 @@ static void rtos_i2s_init(
     ctx->rpc_config = NULL;
     ctx->rx = i2s_local_rx;
     ctx->tx = i2s_local_tx;
+    ctx->is_slave = false;
 
     triggerable_setup_interrupt_callback(ctx->c_i2s_isr.end_b, ctx, RTOS_INTERRUPT_CALLBACK(rtos_i2s_isr));
 
@@ -490,4 +491,6 @@ void rtos_i2s_slave_init(
                   bclk,
                   (rtos_osal_entry_function_t) i2s_slave_thread,
                   RTOS_THREAD_STACK_SIZE(i2s_slave_thread));
+
+    i2s_ctx->is_slave = true;
 }
diff --git a/modules/drivers/i2s/src/rtos_i2s_rpc.c b/modules/drivers/i2s/src/rtos_i2s_rpc.c
index d7176b7f0..48b115060 100644
--- a/modules/drivers/i2s/src/rtos_i2s_rpc.c
+++ b/modules/drivers/i2s/src/rtos_i2s_rpc.c
@@ -231,6 +231,8 @@ void rtos_i2s_rpc_host_init(
         rtos_intertile_t *client_intertile_ctx[],
         size_t remote_client_count)
 {
+    xassert(i2s_ctx->is_slave == false);
+
     i2s_ctx->rpc_config = rpc_config;
     rpc_config->rpc_host_start = i2s_rpc_start;
     rpc_config->remote_client_count = remote_client_count;
diff --git a/modules/osal/FreeRTOS/rtos_osal_thread_port.c b/modules/osal/FreeRTOS/rtos_osal_thread_port.c
index ac171c2c7..d83f37975 100644
--- a/modules/osal/FreeRTOS/rtos_osal_thread_port.c
+++ b/modules/osal/FreeRTOS/rtos_osal_thread_port.c
@@ -1,4 +1,4 @@
-// Copyright 2021-2022 XMOS LIMITED.
+// Copyright 2021-2023 XMOS LIMITED.
 // This Software is subject to the terms of the XMOS Public Licence: Version 1.
 
 /**
@@ -7,6 +7,23 @@
 
 #include "rtos_osal.h"
 
+// The functions below are declared in the third-party file:
+// ./modules/fwk_xvf/modules/rtos/modules/FreeRTOS/FreeRTOS-SMP-Kernel/include/task.h
+#if ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES == 1 )
+
+    void vTaskCoreAffinitySet( const TaskHandle_t xTask,
+                               UBaseType_t uxCoreAffinityMask )
+    {
+        (void) (xTask);
+        (void) (uxCoreAffinityMask);
+    }
+    UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask )
+    {
+        (void) xTask;
+        return 0;
+    }
+#endif /* configUSE_CORE_AFFINITY and configNUM_CORES */
+
 int rtos_osal_critical_enter(void)
 {
     int state;
diff --git a/modules/sw_services/usb/portable/dcd_xcore.c b/modules/sw_services/usb/portable/dcd_xcore.c
index 88c6b5db2..ab46bbac4 100644
--- a/modules/sw_services/usb/portable/dcd_xcore.c
+++ b/modules/sw_services/usb/portable/dcd_xcore.c
@@ -1,4 +1,4 @@
-// Copyright 2021-2022 XMOS LIMITED.
+// Copyright 2021-2023 XMOS LIMITED.
 // This Software is subject to the terms of the XMOS Public Licence: Version 1.
 
 #define DEBUG_UNIT TUSB_DCD
@@ -42,7 +42,7 @@
 #define CFG_TUD_XCORE_IO_CORE_MASK (~(1 << 0))
 #endif
 
-TU_ATTR_WEAK bool tud_xcore_sof_cb(uint8_t rhport);
+TU_ATTR_WEAK bool tud_xcore_sof_cb(uint8_t rhport, uint32_t cur_time);
 TU_ATTR_WEAK bool tud_xcore_data_cb(uint32_t cur_time, uint32_t ep_num, uint32_t ep_dir, size_t xfer_len);
 
 #include "rtos_usb.h"
@@ -210,7 +210,7 @@ static void dcd_xcore_int_handler(rtos_usb_t *ctx,
         break;
     case rtos_usb_sof_packet:
         if (tud_xcore_sof_cb) {
-            if (tud_xcore_sof_cb(0)) {
+            if (tud_xcore_sof_cb(0, cur_time)) {
                 dcd_event_bus_signal(0, DCD_EVENT_SOF, true);
             }
         }
diff --git a/settings.json b/settings.json
deleted file mode 100644
index 3d41ac22e..000000000
--- a/settings.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-    "title": "XCORE RTOS Framework",
-    "project": "fwk_rtos",
-    "version": "3.0.4"
-}
diff --git a/settings.yml b/settings.yml
new file mode 100644
index 000000000..97225df84
--- /dev/null
+++ b/settings.yml
@@ -0,0 +1,17 @@
+---
+project: fwk_rtos
+title: XCORE RTOS Framework
+version: 3.0.5
+
+documentation:
+  exclude_patterns_path: doc/exclude_patterns.inc
+  doxygen_projects:
+    fwk_rtos:
+      doxyfile_path: doc/Doxyfile.inc
+  pdfs:
+    doc/programming_guide/index:
+      pdf_title: "{{title}} - Programming Guide"
+      pdf_filename: "{{project}}_programming_guide_v{{version}}"
+    doc/build_system_guide/index:
+      pdf_title: "{{title}} - Build System Guide"
+      pdf_filename: "{{project}}_build_system_guide_v{{version}}"
diff --git a/test/rtos_drivers/hil/src/individual_tests/i2c/rpc/master_write_multiple_test.c b/test/rtos_drivers/hil/src/individual_tests/i2c/rpc/master_write_multiple_test.c
index 5cc5b54e6..1a2aa2553 100644
--- a/test/rtos_drivers/hil/src/individual_tests/i2c/rpc/master_write_multiple_test.c
+++ b/test/rtos_drivers/hil/src/individual_tests/i2c/rpc/master_write_multiple_test.c
@@ -25,11 +25,11 @@ static const char* test_name = "rpc_master_write_multiple_test";
 
 #if ON_TILE(I2C_MASTER_TILE) || ON_TILE(I2C_SLAVE_TILE)
 #define I2C_MASTER_WRITE_MULTIPLE_TEST_ITER   2
-#define I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE   4
+#define I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE   5
 static uint8_t test_vector[I2C_MASTER_WRITE_MULTIPLE_TEST_ITER][I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE] =
 {
-    {0x00, 0xFF, 0xAA, 0x55},
-    {0xDE, 0xAD, 0xBE, 0xEF},
+    {0x00, 0x23, 0xFF, 0xAA, 0x55},
+    {0xDE, 0xCB, 0xAD, 0xBE, 0xEF},
 };
 #endif
 
@@ -50,6 +50,7 @@ static int main_test(i2c_test_ctx_t *ctx)
             size_t sent = 0;
             local_printf("MASTER write multiple iteration %d", i);
 
+            // Do a 1 byte transfer
             ret = rtos_i2c_master_write(ctx->i2c_master_ctx,
                                         I2C_SLAVE_ADDR,
                                         (unsigned char*)&test_vector[i],
@@ -64,16 +65,32 @@ static int main_test(i2c_test_ctx_t *ctx)
             }
             local_printf("MASTER sent %d", sent);
 
+            // Do another 1 byte transfer but with num_bytes_sent ptr = NULL
             ret = rtos_i2c_master_write(ctx->i2c_master_ctx,
                                         I2C_SLAVE_ADDR,
                                         (unsigned char*)&test_vector[i][1],
-                                        I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-1,
+                                        1,
+                                        NULL,
+                                        0);
+
+            if (ret != I2C_ACK)
+            {
+                local_printf("MASTER write failed to send 1");
+                return -1;
+            }
+            local_printf("MASTER sent 1");
+
+            // Transfer the remaining I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE - 2 bytes
+            ret = rtos_i2c_master_write(ctx->i2c_master_ctx,
+                                        I2C_SLAVE_ADDR,
+                                        (unsigned char*)&test_vector[i][2],
+                                        I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-2,
                                         &sent,
                                         0);
 
-            if ((ret != I2C_ACK) || (sent != I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-1))
+            if ((ret != I2C_ACK) || (sent != I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-2))
             {
-                local_printf("MASTER write failed to send %d", I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-1);
+                local_printf("MASTER write failed to send %d", I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-2);
                 return -1;
             }
             local_printf("MASTER sent %d", sent);
@@ -86,7 +103,7 @@ static int main_test(i2c_test_ctx_t *ctx)
 
     #if ON_TILE(I2C_SLAVE_TILE)
     {
-        while(test_slave_iters < (I2C_MASTER_WRITE_MULTIPLE_TEST_ITER << 1))    // each iter has 2 slave steps
+        while(test_slave_iters < (I2C_MASTER_WRITE_MULTIPLE_TEST_ITER * 3))    // each iter has 3 slave steps
         {
             vTaskDelay(pdMS_TO_TICKS(1));
         }
@@ -110,8 +127,25 @@ static void slave_rx(rtos_i2c_slave_t *ctx, void *app_data, uint8_t *data, size_
     local_printf("SLAVE read iteration %d", test_slave_iters);
     i2c_test_ctx_t *test_ctx = (i2c_test_ctx_t*)ctx->app_data;
 
-    size_t expected_len = ((test_slave_iters%2) == 0) ? 1 : (I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-1);
-    uint8_t *ptr = ((test_slave_iters%2) == 0) ? &test_vector[test_slave_iters>>1][0] : &test_vector[test_slave_iters>>1][1];
+    size_t expected_len;
+    uint8_t *ptr;
+    int index = test_slave_iters % 3;
+    if(index==0)
+    {
+        expected_len = 1;
+        ptr = &test_vector[test_slave_iters/3][0];
+    }
+    else if(index == 1)
+    {
+        expected_len = 1;
+        ptr = &test_vector[test_slave_iters/3][1];
+    }
+    else
+    {
+        expected_len = I2C_MASTER_WRITE_MULTIPLE_TEST_SIZE-2;
+        ptr = &test_vector[test_slave_iters/3][2];
+    }
+
     if (len != expected_len)
     {
         local_printf("SLAVE failed got len %d expected %d", len, expected_len);
diff --git a/test/rtos_drivers/usb/serial_send_receive.py b/test/rtos_drivers/usb/serial_send_receive.py
index e324b78ca..337ce61b2 100644
--- a/test/rtos_drivers/usb/serial_send_receive.py
+++ b/test/rtos_drivers/usb/serial_send_receive.py
@@ -30,7 +30,7 @@ def parse_arguments():
     return args
 
 def main(if0, if1, of0, of1):
-           
+
     all_ports = serial.tools.list_ports.comports()
     test_ports = []
     required_ports = 2
diff --git a/test/rtos_drivers/usb/src/individual_tests/usb/local/usb_sof_test.c b/test/rtos_drivers/usb/src/individual_tests/usb/local/usb_sof_test.c
index 04427abb1..2fa99e843 100644
--- a/test/rtos_drivers/usb/src/individual_tests/usb/local/usb_sof_test.c
+++ b/test/rtos_drivers/usb/src/individual_tests/usb/local/usb_sof_test.c
@@ -38,8 +38,9 @@ static void timeout_cb(TimerHandle_t xTimer)
     sof_timeout = true;
 }
 
-bool tud_xcore_sof_cb(uint8_t rhport)
+bool tud_xcore_sof_cb(uint8_t rhport, uint32_t cur_time)
 {
+    (void)cur_time;
     if (!received_sof_event) {
         received_sof_event = true;
         LOCAL_PRINTF("tud_xcore_sof_cb");
@@ -108,4 +109,4 @@ void register_sof_test(usb_test_ctx_t *test_ctx)
     test_ctx->main_test[this_test_num] = sof_test;
 
     test_ctx->test_cnt++;
-}
\ No newline at end of file
+}
diff --git a/tools/ci/fetch_ci_deps.cmake b/tools/ci/fetch_ci_deps.cmake
index 9aa1ebd1b..4d5972a95 100644
--- a/tools/ci/fetch_ci_deps.cmake
+++ b/tools/ci/fetch_ci_deps.cmake
@@ -8,7 +8,7 @@
         FetchContent_Declare(
             fwk_io
             GIT_REPOSITORY https://github.com/xmos/fwk_io.git
-            GIT_TAG        f35192c19824d60740003be5448c67f5df927014
+            GIT_TAG        v3.3.0
             GIT_SHALLOW    FALSE
             GIT_SUBMODULES_RECURSE TRUE
             SOURCE_DIR     ${CMAKE_BINARY_DIR}/dependencies/fwk_io
@@ -25,7 +25,7 @@
         FetchContent_Declare(
             fwk_core
             GIT_REPOSITORY https://github.com/xmos/fwk_core.git
-            GIT_TAG        9e4f6196386995e2d7786b376091404638055639
+            GIT_TAG        v1.0.2
             GIT_SHALLOW    FALSE
             GIT_SUBMODULES_RECURSE TRUE
             SOURCE_DIR     ${CMAKE_BINARY_DIR}/dependencies/fwk_core
@@ -42,7 +42,7 @@
         FetchContent_Declare(
             lib_qspi_fast_read
             GIT_REPOSITORY git@github.com:xmos/lib_qspi_fast_read.git
-            GIT_TAG        85fe54188b5f3244c744f6d2aeebd757d8f25358
+            GIT_TAG        v1.0.1
             GIT_SHALLOW    FALSE
             GIT_SUBMODULES_RECURSE TRUE
             SOURCE_DIR     ${CMAKE_BINARY_DIR}/dependencies/lib_qspi_fast_read
diff --git a/tools/fatfs_mkimage/README.rst b/tools/fatfs_mkimage/README.rst
index 78f753a1b..16e7d337a 100644
--- a/tools/fatfs_mkimage/README.rst
+++ b/tools/fatfs_mkimage/README.rst
@@ -36,7 +36,7 @@ install with ``winget`` by running the following commands in *PowerShell*:
     # Reload user Path
     $env:Path=[System.Environment]::GetEnvironmentVariable("Path","User")
 
-.. tab:: Windows
+.. tab:: doscon
 
     .. code-block:: x86 native tools command prompt