Add simplified switching test catching task swap problem

Author: earlephilhower

libraries/FreeRTOS/tests/switching/switching.ino

@@ -0,0 +1,57 @@
+// Released to the public domain
+#include <FreeRTOS.h>
+#include <task.h>
+#include <map>
+#define STACK_SIZE 512
+#define CORE_0 (1 << 0)
+#define CORE_1 (1 << 1)
+
+std::map<eTaskState, const char *> eTaskStateName { {eReady, "Ready"}, { eRunning, "Running" }, {eBlocked, "Blocked"}, {eSuspended, "Suspended"}, {eDeleted, "Deleted"} };
+void ps() {
+  int tasks = uxTaskGetNumberOfTasks();
+  TaskStatus_t *pxTaskStatusArray = new TaskStatus_t[tasks];
+  unsigned long runtime;
+  tasks = uxTaskGetSystemState( pxTaskStatusArray, tasks, &runtime );
+  Serial.printf("# Tasks: %d\n", tasks);
+  Serial.printf("%-3s %-16s %-10s %s %s\n", "ID", "NAME", "STATE", "PRIO", "CYCLES");
+  for (int i = 0; i < tasks; i++) {
+    Serial.printf("%2d: %-16s %-10s %4d %lu\n", i, pxTaskStatusArray[i].pcTaskName, eTaskStateName[pxTaskStatusArray[i].eCurrentState], (int)pxTaskStatusArray[i].uxCurrentPriority, pxTaskStatusArray[i].ulRunTimeCounter);
+  }
+  delete[] pxTaskStatusArray;
+}
+
+static TaskHandle_t l[16];
+
+void loop() {
+  ps();
+  delay(1000);
+}
+
+#define LOOP(z) \
+void loop##z(void *params) {\
+  (void) params;\
+  while (true) {\
+    srand(z);\
+    int sum = 0;\
+    for (int i = 0; i < 500000; i++) sum+= rand();\
+    Serial.printf("L%d: %08x\n", z, sum);\
+    delay(1000 + z * 10);\
+  }\
+}
+
+LOOP(0);
+LOOP(1);
+LOOP(2);
+LOOP(3);
+
+
+void setup() {
+  xTaskCreate(loop0, "loop0", STACK_SIZE, NULL, 1, &l[0]);
+  vTaskCoreAffinitySet(l[0], CORE_0);
+//  xTaskCreate(loop1, "loop1", STACK_SIZE, NULL, 1, &l[1]);
+//  vTaskCoreAffinitySet(l[1], CORE_0);
+//  xTaskCreate(loop2, "loop2", STACK_SIZE, NULL, 1, &l[2]);
+//  vTaskCoreAffinitySet(l[2], CORE_0);
+//  xTaskCreate(loop3, "loop3", STACK_SIZE, NULL, 1, &l[3]);
+//  vTaskCoreAffinitySet(l[3], CORE_1);
+}