Add ESP32 board for the Test/Target SMP tests

FreeRTOS/Test/Target/boards/esp32/.gitignore

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+build_*/
+sdkconfig
+sdkconfig.old

FreeRTOS/Test/Target/boards/esp32/CMakeLists.txt

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+# SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+#
+# ESP32 board integration for the FreeRTOS granular-lock performance-comparison
+# target tests. Builds one test at a time, selected with -DPERF_TEST=<name>
+# (crit_speed | queue_speed | queue_contention | lock_contention_end_to_end).
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(freertos_perf_comp_tests)

FreeRTOS/Test/Target/boards/esp32/README.md

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+# ESP32 board — FreeRTOS Test/Target tests
+
+An ESP-IDF integration that can build and run any `Test/Target` SMP test on the
+dual-core ESP32 (the granular-lock performance-comparison tests, the functional
+SMP tests, and the scheduler-owner regression test).
+
+## How it works
+
+Unlike bare-metal targets that append the per-test `test_config.h` to
+`FreeRTOSConfig.h`, ESP-IDF generates its kernel configuration from Kconfig, so:
+
+- Kernel options are set through `sdkconfig.defaults` (`CONFIG_FREERTOS_SMP`,
+  `CONFIG_FREERTOS_RUN_MULTIPLE_PRIORITIES`, ...).
+- `main/board_test_config.h` is force-included into every TU to satisfy the
+  framework's include-order contract (`TEST_CONFIG_H`,
+  `configTARGET_TEST_USE_CUSTOM_SETTING`) and to provide an `XT_NOP()` fallback
+  used by tests that busy-loop with `portNOP()`.
+- `main/test_setting_config.h` supplies the ESP32 hooks:
+  `testGET_TIME_FUNCTION()` (CPU cycle counter) and `testPRINTF_FUNCTION`.
+
+The `main/CMakeLists.txt` is **generic**: it discovers the test source as any
+`<name>/<name>.c` under `tests/` and reads its entry function from the
+`testENTRY_FUNCTION_PROTOTYPE( ... )` line - adding a new test needs no changes.
+
+## Build & run
+
+One binary per test, selected with `-DTEST=<name>` (legacy `-DPERF_TEST=` also
+works):
+
+```bash
+. $IDF_PATH/export.sh
+cd FreeRTOS/Test/Target/boards/esp32
+
+idf.py -B build_suspend_scheduler -DIDF_TARGET=esp32 -DTEST=suspend_scheduler \
+       -DSDKCONFIG=build_suspend_scheduler/sdkconfig build
+idf.py -B build_suspend_scheduler -p <PORT> flash monitor
+```
+
+`<name>` is any test dir, e.g. `crit_speed`, `queue_speed`, `queue_contention`,
+`lock_contention_end_to_end`, `scheduler_owner_no_yield`, `disable_preemption`,
+`suspend_scheduler`, `task_delete`, `schedule_affinity`, ...
+
+## ESP-IDF compatibility notes
+
+ESP-IDF only lets `configRUN_MULTIPLE_PRIORITIES` be configured (via
+`CONFIG_FREERTOS_RUN_MULTIPLE_PRIORITIES`); `configUSE_PREEMPTION`,
+`configUSE_TIME_SLICING`, `configUSE_CORE_AFFINITY` and
+`configUSE_TASK_PREEMPTION_DISABLE` are fixed to `1`. Therefore:
+
+- Tests requiring `configRUN_MULTIPLE_PRIORITIES=0` use the
+  `sdkconfig.no_multi_prio` fragment
+  (`-DSDKCONFIG_DEFAULTS="sdkconfig.defaults;sdkconfig.no_multi_prio"`).
+- `disable_multiple_priorities` cannot build (requires `configUSE_CORE_AFFINITY=0`).
+- `interrupt_wait_critical` fails: it expects a task spinning to enter
+  `taskENTER_CRITICAL()` to be preempted before acquiring the lock, but the
+  ESP-IDF port disables interrupts before spinning, so the entry is not
+  preemptible - a port-behavior difference, not a test bug.
+
+## Granular vs. non-granular
+
+The tests select the critical-section API via `portUSING_GRANULAR_LOCKS`, which
+the ESP-IDF SMP port ties to `configNUMBER_OF_CORES > 1`. To measure the
+non-granular baseline on the same two-core kernel, temporarily force
+`portUSING_GRANULAR_LOCKS` to `0` in the port's `portmacro.h` and rebuild.

FreeRTOS/Test/Target/boards/esp32/main/CMakeLists.txt

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+# SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+#
+# Generic runner for the FreeRTOS Test/Target tests on ESP32.
+#
+# Select a test with -DTEST=<name> (or the legacy -DPERF_TEST=<name>). The test
+# source is discovered automatically as any <name>/<name>.c under tests/, and its
+# entry function is read from the testENTRY_FUNCTION_PROTOTYPE( <fxn> ) line - so
+# adding a new test needs no changes here.
+
+if(NOT DEFINED TEST)
+    if(DEFINED PERF_TEST)          # backwards-compatible alias
+        set(TEST "${PERF_TEST}")
+    else()
+        set(TEST "crit_speed")
+    endif()
+endif()
+
+set(TESTS_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../../tests")
+set(INC_DIR    "${TESTS_ROOT}/include")
+
+# Locate <name>/<name>.c anywhere under tests/.
+file(GLOB_RECURSE _all_test_c LIST_DIRECTORIES false "${TESTS_ROOT}/*.c")
+set(TEST_SRC "")
+foreach(_c ${_all_test_c})
+    get_filename_component(_fn  "${_c}" NAME_WE)
+    get_filename_component(_dir "${_c}" DIRECTORY)
+    get_filename_component(_dn  "${_dir}" NAME)
+    if(_fn STREQUAL "${TEST}" AND _dn STREQUAL "${TEST}")
+        set(TEST_SRC "${_c}")
+        set(TEST_DIR "${_dir}")
+        break()
+    endif()
+endforeach()
+if(NOT TEST_SRC)
+    message(FATAL_ERROR "No test '<dir>/${TEST}/${TEST}.c' found under ${TESTS_ROOT}")
+endif()
+
+# Read the entry function from testENTRY_FUNCTION_PROTOTYPE( <fxn> ).
+file(READ "${TEST_SRC}" _test_src)
+string(REGEX MATCH
+       "testENTRY_FUNCTION_PROTOTYPE[ \t\r\n]*\\([ \t\r\n]*([A-Za-z_][A-Za-z0-9_]*)"
+       _unused "${_test_src}")
+if(NOT CMAKE_MATCH_1)
+    message(FATAL_ERROR "No testENTRY_FUNCTION_PROTOTYPE(...) in ${TEST_SRC}")
+endif()
+set(TEST_ENTRY "${CMAKE_MATCH_1}")
+
+idf_component_register(
+    SRCS "main.c" "${TEST_SRC}"
+    INCLUDE_DIRS "." "${INC_DIR}" "${TEST_DIR}"
+    REQUIRES freertos esp_hw_support unity
+)
+
+# The upstream test files use bare kernel includes ("FreeRTOS.h", "task.h", ...),
+# whereas ESP-IDF exposes them under a freertos/ prefix. Add the SMP kernel's
+# header directory so the unmodified test sources compile.
+idf_build_get_property(idf_path IDF_PATH)
+target_include_directories(${COMPONENT_LIB} PRIVATE
+    "${idf_path}/components/freertos/FreeRTOS-Kernel-SMP/include/freertos")
+
+# Force-include the board config so the framework's TEST_CONFIG_H guard is
+# satisfied and the custom test-setting hooks are picked up.
+target_compile_options(${COMPONENT_LIB} PRIVATE
+    "-include" "${CMAKE_CURRENT_LIST_DIR}/board_test_config.h")
+
+target_compile_definitions(${COMPONENT_LIB} PRIVATE "TEST_ENTRY_FN=${TEST_ENTRY}")
+
+message(STATUS "Target test '${TEST}': ${TEST_SRC} (entry ${TEST_ENTRY})")

FreeRTOS/Test/Target/boards/esp32/main/board_test_config.h

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+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * Force-included (via -include) into every translation unit of the ESP32
+ * perf-comparison board. ESP-IDF generates its FreeRTOSConfig from Kconfig, so
+ * instead of appending the per-test test_config.h to FreeRTOSConfig.h (as the
+ * framework does on bare-metal targets), the required kernel options are set
+ * through sdkconfig (e.g. CONFIG_FREERTOS_RUN_MULTIPLE_PRIORITIES) and this
+ * header only satisfies the framework's include-order contract:
+ *   - defines TEST_CONFIG_H so the "test_config.h must be included" guard passes
+ *   - selects the custom (non-Unity) test-setting framework
+ */
+
+#ifndef BOARD_TEST_CONFIG_H
+#define BOARD_TEST_CONFIG_H
+
+#define TEST_CONFIG_H
+#define configTARGET_TEST_USE_CUSTOM_SETTING    1
+
+/* Several target tests busy-loop with portNOP(), which the ESP-IDF Xtensa port
+ * maps to XT_NOP() (see portmacro.h "Todo: Check if XT_NOP exists"). That symbol
+ * is not declared in a plain test translation unit, so provide a fallback here
+ * (this header is force-included ahead of portmacro.h). */
+#ifndef XT_NOP
+    #define XT_NOP()    __asm__ __volatile__ ( "nop" )
+#endif
+
+#endif /* BOARD_TEST_CONFIG_H */

FreeRTOS/Test/Target/boards/esp32/main/main.c

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+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file main.c
+ * @brief Runner for a single granular-lock performance-comparison test on ESP32.
+ *
+ * The test to run is selected at build time via -DPERF_TEST=<name>; the CMake
+ * layer passes the matching entry function as TEST_ENTRY_FN.
+ */
+
+#include <stdio.h>
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Provided by the selected test file (see boards/esp32/main/CMakeLists.txt). */
+extern void TEST_ENTRY_FN( void );
+
+/*-----------------------------------------------------------*/
+
+static void prvRunnerTask( void * pvParameters )
+{
+    ( void ) pvParameters;
+
+    printf( "\n===PERF_TEST_BEGIN===\n" );
+    TEST_ENTRY_FN();
+    printf( "===PERF_TEST_END===\n" );
+
+    vTaskDelete( NULL );
+}
+/*-----------------------------------------------------------*/
+
+void app_main( void )
+{
+    /* Match the reference (pico) board: highest priority, no core affinity. The
+     * tests that care about placement set their own affinity; the perf tests
+     * spawn their own affinity-pinned worker tasks from here. */
+    ( void ) xTaskCreate( prvRunnerTask,
+                          "test_runner",
+                          8192,
+                          NULL,
+                          configMAX_PRIORITIES - 1,
+                          NULL );
+}

FreeRTOS/Test/Target/boards/esp32/main/test_setting_config.h

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+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * ESP32 test-setting overrides for the target test framework. Included by every
+ * test file when configTARGET_TEST_USE_CUSTOM_SETTING == 1, before
+ * test_default_setting_config.h. Only the two target hooks are overridden; the
+ * default (Unity-based) harness macros are kept, since some tests use Unity
+ * assertions (TEST_ASSERT_*).
+ */
+
+#ifndef TEST_SETTING_CONFIG_H
+#define TEST_SETTING_CONFIG_H
+
+#include <stdio.h>
+#include "esp_cpu.h"
+
+/* High-resolution timer: the CPU cycle counter. */
+#define testGET_TIME_FUNCTION()    ( ( UBaseType_t ) esp_cpu_get_cycle_count() )
+
+/* Output. */
+#define testPRINTF_FUNCTION        printf
+
+#endif /* TEST_SETTING_CONFIG_H */

FreeRTOS/Test/Target/boards/esp32/sdkconfig.defaults

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+# SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+
+# SMP, dual-core, multiple priorities (required by the perf-comparison tests).
+CONFIG_FREERTOS_SMP=y
+CONFIG_FREERTOS_RUN_MULTIPLE_PRIORITIES=y
+CONFIG_FREERTOS_HZ=1000
+
+# Measure realistic code (-O2).
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+# Keep the measurement loops off the watchdogs.
+CONFIG_ESP_TASK_WDT_INIT=n
+CONFIG_ESP_INT_WDT=n
+CONFIG_FREERTOS_USE_TICKLESS_IDLE=n

FreeRTOS/Test/Target/boards/esp32/sdkconfig.no_multi_prio

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+# For tests that require configRUN_MULTIPLE_PRIORITIES = 0.
+CONFIG_FREERTOS_RUN_MULTIPLE_PRIORITIES=n