FreeRTOS/make Queue Registry and Run Time Stats configurable

This commit makes the configQUEUE_REGISTRY_SIZE and
configGENERATE_RUN_TIME_STATS configurable in menuconfig.

- configQUEUE_REGISTRY_SIZE can now be set in menuconfig.
- The functions vQueueAddToRegistry() and vQueueUnregisterQueue() were made
  SMP compatbile
- pcQueueGetName() was backported from FreeRTOS v9.0.0
- Added test case for Queue Registry functions

- configGENERATE_RUN_TIME_STATS can now be enabled in menuconfig. CCOUNT or
  esp_timer can be selected as the FreeRTOS run time clock in menuconfig as
  well, although CCOUNT will overflow quickly.
- Run time stats collection (in vTaskSwitchContext) and generation (in
  uxTaskGetSystemState) have been made SMP compatible. Therefore
  vTaskGetRunTimeStats() now displays the run time usage of each task as a
  percentage of total runtime of both CPUs

Squash

components/freertos/test/test_freertos_debug_functions.c

@@ -0,0 +1,100 @@
+/*
+ * Test FreeRTOS debug functions and utilities.
+ * - Queue registry functions vQueueAddToRegistry(), vQueueUnregisterQueue(),
+ *   and pcQueueGetName(backported)
+ *
+ *
+ */
+
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "unity.h"
+
+#if (CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE > 0)
+#define NO_OF_QUEUES_PER_CORE  ((int)((CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE - 3)/portNUM_PROCESSORS))     //Save space for some preallocated tasks
+#define NO_OF_QUEUES_TOTAL    (NO_OF_QUEUES_PER_CORE * portNUM_PROCESSORS)
+#define QUEUE_NAME_MAX_LENGTH    10
+
+static SemaphoreHandle_t start_sem = NULL;
+static SemaphoreHandle_t done_sem = NULL;
+static char *names[NO_OF_QUEUES_TOTAL];
+static QueueHandle_t handles[NO_OF_QUEUES_TOTAL];
+
+void test_queue_registry_task(void *arg)
+{
+    int core = xPortGetCoreID();
+    int offset = core * NO_OF_QUEUES_PER_CORE;
+    //Create queues and accompanying queue names
+    for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
+        handles[i + offset] = xQueueCreate(1,1);   //Create queues
+        names[i + offset] = calloc(QUEUE_NAME_MAX_LENGTH, sizeof(char));
+        sprintf(names[i + offset], "Queue%d%d", core, i);
+    }
+
+    xSemaphoreTake(start_sem, portMAX_DELAY);   //Wait for start vQueueAddToRegistry()
+    for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
+        vQueueAddToRegistry(handles[i + offset] , names[i + offset]);   //Register queues to queue registry
+    }
+    xSemaphoreGive(done_sem);   //Signal that vQueueAddToRegistry() has completed
+
+    vTaskDelay(1);
+
+    xSemaphoreTake(start_sem, portMAX_DELAY);   //Wait to start vQueueUnregisterQueue()
+    for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
+        vQueueDelete(handles[i + offset]);  //Internally calls vQueueUnregisterQueue
+    }
+    xSemaphoreGive(done_sem);   //Signal done
+
+    vTaskDelete(NULL);  //Delete self
+}
+
+TEST_CASE("Test FreeRTOS Queue Registry", "[freertos]")
+{
+    //Create synchronization semaphores
+    start_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
+    done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
+    for(int i = 0; i < portNUM_PROCESSORS; i++){    //Create tasks to test queue registry
+        xTaskCreatePinnedToCore(test_queue_registry_task, "testing task", 4096, NULL, UNITY_FREERTOS_PRIORITY+1, NULL, i);
+    }
+
+    portDISABLE_INTERRUPTS();
+    for(int i = 0; i < portNUM_PROCESSORS; i++){
+        xSemaphoreGive(start_sem);  //Trigger start
+    }
+    portENABLE_INTERRUPTS();
+    for(int i = 0; i < portNUM_PROCESSORS; i++){
+        xSemaphoreTake(done_sem, portMAX_DELAY);    //Wait for tasks to complete vQueueAddToRegistry
+    }
+    for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
+        const char *addr = pcQueueGetName(handles[i]);
+        TEST_ASSERT(addr == names[i])   //Check vQueueAddToRegistry was successful
+    }
+
+    portDISABLE_INTERRUPTS();
+    for(int i = 0; i < portNUM_PROCESSORS; i++){
+        xSemaphoreGive(start_sem);  //Trigger start
+    }
+    portENABLE_INTERRUPTS();
+    for(int i = 0; i < portNUM_PROCESSORS; i++){
+        xSemaphoreTake(done_sem, portMAX_DELAY);    //Wait for tasks to complete vQueueUnregisterQueue
+    }
+    for(int i = 0; i <  NO_OF_QUEUES_TOTAL; i++){
+        const char *addr = pcQueueGetName(handles[i]);
+        TEST_ASSERT(addr == NULL)   //Check vQueueUnregisterQueue was successful
+        handles[i] = NULL;
+    }
+
+    //Cleanup
+    for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
+        free(names[i]);
+        names[i] = NULL;
+    }
+    vSemaphoreDelete(start_sem);
+    start_sem = NULL;
+    vSemaphoreDelete(done_sem);
+    done_sem = NULL;
+}
+#endif      //(CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE > 0)