diff --git a/components/freertos/test/CMakeLists.txt b/components/freertos/test/CMakeLists.txt
index e25755ba72..00b876bf1c 100644
--- a/components/freertos/test/CMakeLists.txt
+++ b/components/freertos/test/CMakeLists.txt
@@ -1,5 +1,3 @@
 idf_component_register(SRC_DIRS .
                        PRIV_INCLUDE_DIRS .
                        PRIV_REQUIRES cmock test_utils esp_system driver)
-# Enable task snapshots by setting configENABLE_TASK_SNAPSHOT macro
-idf_build_set_property(COMPILE_OPTIONS "-DconfigENABLE_TASK_SNAPSHOT=1" APPEND)
diff --git a/components/freertos/test/test_tasks_snapshot.c b/components/freertos/test/test_tasks_snapshot.c
index 20ffd8d855..8551005d13 100644
--- a/components/freertos/test/test_tasks_snapshot.c
+++ b/components/freertos/test/test_tasks_snapshot.c
@@ -1,38 +1,151 @@
 /*
- Test FreeRTOS support for core dump.
-*/
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
+#include "sdkconfig.h"
+
+#if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
 #include <stdio.h>
-#include "esp_cpu.h"
 #include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 #include "freertos/task_snapshot.h"
+#include "esp_cpu.h"
 #include "unity.h"
 #include "sdkconfig.h"
 
-#define TEST_MAX_TASKS_NUM	32
+#define TEST_MAX_TASKS_NUM      32
+#define NUM_TASKS_PER_LIST      2
+#define TASK_PRIORITY           (configMAX_PRIORITIES - 2)
 
-/* simple test to check that in normal conditions uxTaskGetSnapshotAll does not generate exception */
-TEST_CASE("Tasks snapshot", "[freertos]")
+static void ready_task(void *arg)
 {
-    TaskSnapshot_t tasks[TEST_MAX_TASKS_NUM];
-    UBaseType_t tcb_sz;
-#ifndef CONFIG_FREERTOS_UNICORE
-    int other_core_id = xPortGetCoreID() == 0 ? 1 : 0;
-#endif
-
-    // uxTaskGetSnapshotAll is supposed to be called when all tasks on both CPUs are
-    // inactive and can not alter FreeRTOS internal tasks lists, e.g. from panic handler
-    unsigned state = portSET_INTERRUPT_MASK_FROM_ISR();
-#ifndef CONFIG_FREERTOS_UNICORE
-    esp_cpu_stall(other_core_id);
-#endif
-    UBaseType_t task_num = uxTaskGetSnapshotAll(tasks, TEST_MAX_TASKS_NUM, &tcb_sz);
-#ifndef CONFIG_FREERTOS_UNICORE
-    esp_cpu_unstall(other_core_id);
-#endif
-    portCLEAR_INTERRUPT_MASK_FROM_ISR(state);
-
-    printf("Dumped %d tasks. TCB size %d\n", task_num, tcb_sz);
-    TEST_ASSERT_NOT_EQUAL(0, task_num);
-    TEST_ASSERT_NOT_EQUAL(0, tcb_sz);
+    while (1) {
+        ;
+    }
 }
+
+static void blocked_task(void *arg)
+{
+    // Delay for portMAX_DELAY - 1 as not to go on the suspended list
+    vTaskDelay(portMAX_DELAY - 1);
+}
+
+static void suspended_task(void *arg)
+{
+    vTaskSuspend(NULL);
+}
+
+static void setup(TaskHandle_t *task_list, int *num_tasks_ret, UBaseType_t *old_priority_ret)
+{
+    // Raise our priority so that we aren't preempted
+    *old_priority_ret = uxTaskPriorityGet(NULL);
+    vTaskPrioritySet(NULL, configMAX_PRIORITIES - 1);
+
+    // Create tasks
+    int num_tasks = 0;
+    for (int i = 0; i < NUM_TASKS_PER_LIST; i++) {
+        //Ready task
+        xTaskCreate(ready_task, "ready", 1024, NULL, TASK_PRIORITY, &(task_list[num_tasks]));
+        num_tasks++;
+        //Blocked task
+        xTaskCreate(blocked_task, "blkd", 1024, NULL, TASK_PRIORITY, &(task_list[num_tasks]));
+        num_tasks++;
+        //Suspended task
+        xTaskCreate(suspended_task, "susp", 1024, NULL, TASK_PRIORITY, &(task_list[num_tasks]));
+        num_tasks++;
+    }
+    *num_tasks_ret = num_tasks;
+    // Short delay to allow tasks to spin up
+    vTaskDelay(10);
+
+    // Stop preemption on this core, and stall the other core
+    taskDISABLE_INTERRUPTS();
+#if !CONFIG_FREERTOS_UNICORE
+    esp_cpu_stall(!xPortGetCoreID());
+#endif
+
+
+}
+
+static void check_snapshots(TaskHandle_t *task_list, int num_tasks, TaskSnapshot_t *task_snapshots, UBaseType_t num_snapshots)
+{
+    // Check task snapshots. Every created task should be found in the task snapshot
+    for (int i = 0; i < num_tasks; i++) {
+        bool found = false;
+        for (int j = 0; j < num_snapshots; j++) {
+            if (task_list[i] == (TaskHandle_t)task_snapshots[j].pxTCB) {
+                found = true;
+                break;
+            }
+        }
+        TEST_ASSERT(found);
+    }
+}
+
+static void teardown(TaskHandle_t *task_list, int num_tasks, UBaseType_t old_priority)
+{
+    // Resume other cores and allow preemption
+#if !CONFIG_FREERTOS_UNICORE
+    esp_cpu_unstall(!xPortGetCoreID());
+#endif
+    taskENABLE_INTERRUPTS();
+
+    for (int i = 0; i < num_tasks; i++) {
+        vTaskDelete(task_list[i]);
+    }
+    // Restore priority
+    vTaskPrioritySet(NULL, old_priority);
+    // Short delay to allow tasks to clean up
+    vTaskDelay(10);
+}
+
+TEST_CASE("Task snapshot: Get all", "[freertos]")
+{
+    // Short delay to allow both cores to spin up
+    vTaskDelay(10);
+
+    TaskHandle_t task_list[TEST_MAX_TASKS_NUM];
+    int num_tasks;
+    UBaseType_t old_priority;
+    setup(task_list, &num_tasks, &old_priority);
+
+    // Get task snapshots using uxTaskGetSnapshotAll()
+    TaskSnapshot_t task_snapshots[TEST_MAX_TASKS_NUM];
+    UBaseType_t tcb_size;
+    UBaseType_t num_snapshots;
+    num_snapshots = uxTaskGetSnapshotAll(task_snapshots, TEST_MAX_TASKS_NUM, &tcb_size);
+    TEST_ASSERT_LESS_OR_EQUAL(TEST_MAX_TASKS_NUM, num_snapshots);
+
+    check_snapshots(task_list, num_tasks, task_snapshots, num_snapshots);
+    teardown(task_list, num_tasks, old_priority);
+}
+
+TEST_CASE("Task snapshot: Iterate", "[freertos]")
+{
+    // Short delay to allow both cores to spin up
+    vTaskDelay(10);
+
+    TaskHandle_t task_list[TEST_MAX_TASKS_NUM];
+    int num_tasks;
+    UBaseType_t old_priority;
+    setup(task_list, &num_tasks, &old_priority);
+
+    // Get task snapshots using pxTaskGetNext() and vTaskGetSnapshot()
+    TaskSnapshot_t task_snapshots[TEST_MAX_TASKS_NUM];
+    UBaseType_t num_snapshots = 0;
+    TaskHandle_t cur_task_handle = pxTaskGetNext(NULL);
+    while (cur_task_handle != NULL) {
+        // Get the task's snapshot
+        vTaskGetSnapshot(cur_task_handle, &task_snapshots[num_snapshots]);
+        num_snapshots++;
+        cur_task_handle = pxTaskGetNext(cur_task_handle);
+    }
+    TEST_ASSERT_LESS_OR_EQUAL(TEST_MAX_TASKS_NUM, num_snapshots);
+
+    check_snapshots(task_list, num_tasks, task_snapshots, num_snapshots);
+    teardown(task_list, num_tasks, old_priority);
+}
+
+#endif // CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
diff --git a/tools/unit-test-app/configs/freertos_options b/tools/unit-test-app/configs/freertos_options
index d48ae92fb1..3e3196c6c5 100644
--- a/tools/unit-test-app/configs/freertos_options
+++ b/tools/unit-test-app/configs/freertos_options
@@ -20,3 +20,4 @@ CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS=y
 CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH=y
 CONFIG_FREERTOS_FPU_IN_ISR=y
 CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=16
+CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y