freertos/tests: added test to evaluate scheduling time

freertos/Kconfig: fix trailing space on optimized scheduler option

freertos/tests: moved test context variables inside of test task.

The public variables used on scheduling time test now were packed into a structure allocated on  test case task stack and passed to tasks as arguments saving RAM comsumption.

components/freertos/Kconfig

@@ -44,8 +44,8 @@ menu "FreeRTOS"
         default y
         help
             On most platforms there are instructions can speedup the ready task
-            searching. Enabling this option the FreeRTOS with this instructions 
-            support will be built
+            searching. Enabling this option the FreeRTOS with this instructions
+            support will be built.
 
     config FREERTOS_HZ
         int "Tick rate (Hz)"

components/freertos/include/freertos/portmacro.h

@@ -472,10 +472,6 @@ void vApplicationSleep( TickType_t xExpectedIdleTime );
 /*-----------------------------------------------------------*/
 
 /* Architecture specific optimisations. */
-#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
-	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
-#endif
-
 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
 
 /* Check the configuration. */

components/freertos/test/test_freertos_scheduling_time.c

@@ -0,0 +1,58 @@
+#include <esp_types.h>
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "esp_intr_alloc.h"
+#include "xtensa/hal.h"
+#include "unity.h"
+#include "soc/cpu.h"
+#include "test_utils.h"
+
+typedef struct {
+    uint32_t noof_runs;
+    SemaphoreHandle_t end_sema;
+    uint32_t before_sched;
+    uint32_t cycles_to_sched;
+} test_context_t;
+
+static void test_task_1(void *arg) {
+    test_context_t *context = (test_context_t *)arg;
+
+    for(context->noof_runs = 0 ;context->noof_runs < 10000; ) {
+        context->before_sched = portGET_RUN_TIME_COUNTER_VALUE();
+        vPortYield();
+    }
+
+    vTaskDelete(NULL); 
+}
+
+static void test_task_2(void *arg) {
+    test_context_t *context = (test_context_t *)arg;
+
+    for( ; context->noof_runs < 10000; context->noof_runs++) {
+        context->cycles_to_sched += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
+        vPortYield();
+    }
+
+    context->cycles_to_sched /= 10000;
+    xSemaphoreGive(context->end_sema);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("scheduling time test", "[freertos]")
+{
+    test_context_t context; 
+
+    context.end_sema = xSemaphoreCreateBinary();
+    TEST_ASSERT(context.end_sema != NULL);
+
+    xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, NULL,1);
+    xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,1);
+
+    BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);    
+    TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
+    TEST_PERFORMANCE_LESS_THAN(SCHEDULING_TIME , "scheduling time %d cycles" ,context.cycles_to_sched);
+}

components/idf_test/include/idf_performance.h

@@ -76,3 +76,5 @@
 
 #endif //CONFIG_IDF_TARGET_ESP32S2BETA
 
+//time to perform the task selection plus context switch (from task)
+#define IDF_PERFORMANCE_MAX_SCHEDULING_TIME                                     4500