test(sdmmc): add test for high-prio task busy while writing

Related to https://github.com/espressif/esp-idf/issues/13934

components/sdmmc/test_apps/sdmmc_console/components/sdmmc_tests/sdmmc_test_rw_common.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -8,6 +8,7 @@
 #include <string.h>
 #include <unistd.h>
 #include <sys/time.h>
+#include "esp_timer.h"
 #include "test_utils.h"
 #include "sdkconfig.h"
 #include "soc/soc_caps.h"
@@ -154,3 +155,43 @@ void sdmmc_test_rw_with_offset(sdmmc_card_t* card)
     do_single_rw_perf_test(card, card->csd.capacity/2, 8, 1, NULL);
     do_single_rw_perf_test(card, card->csd.capacity/2, 128, 1, NULL);
 }
+
+typedef struct {
+    SemaphoreHandle_t stop;
+    SemaphoreHandle_t done;
+    uint32_t busy_time_us;
+} highprio_busy_task_args_t;
+
+static void highprio_busy_task(void* varg)
+{
+    highprio_busy_task_args_t* args = (highprio_busy_task_args_t*) varg;
+    while (xSemaphoreTake(args->stop, 0) != pdTRUE) {
+        vTaskDelay(1);
+        int64_t start = esp_timer_get_time();
+        while (esp_timer_get_time() - start < args->busy_time_us) {
+            usleep(100);
+        }
+    }
+    xSemaphoreGive(args->done);
+    vTaskDelete(NULL);
+}
+
+void sdmmc_test_rw_highprio_task(sdmmc_card_t* card)
+{
+    highprio_busy_task_args_t args = {
+        .stop = xSemaphoreCreateBinary(),
+        .done = xSemaphoreCreateBinary(),
+        .busy_time_us = 250000,
+    };
+
+    TEST_ASSERT(xTaskCreate(highprio_busy_task, "highprio_busy_task", 4096, &args, 20, NULL));
+
+    for (int i = 0; i < 4; ++i) {
+        do_single_rw_perf_test(card, 0, 64, 0, NULL);
+    }
+
+    xSemaphoreGive(args.stop);
+    xSemaphoreTake(args.done, portMAX_DELAY);
+    vSemaphoreDelete(args.stop);
+    vSemaphoreDelete(args.done);
+}

components/sdmmc/test_apps/sdmmc_console/components/sdmmc_tests/sdmmc_test_rw_common.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -50,6 +50,12 @@ void sdmmc_test_rw_unaligned_buffer(sdmmc_card_t* card);
  */
 void sdmmc_test_rw_with_offset(sdmmc_card_t* card);
 
+/**
+ * @brief Test read/write with higher priority tasks running concurrently
+ * @param card Pointer to the card object, must be initialized before calling this function.
+ */
+void sdmmc_test_rw_highprio_task(sdmmc_card_t* card);
+
 #ifdef __cplusplus
 };
 #endif

components/sdmmc/test_apps/sdmmc_console/components/sdmmc_tests/sdmmc_test_rw_sd.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -101,3 +101,25 @@ TEST_CASE("sdmmc read/write using unaligned buffer, slot 1, 4-bit", "[sdmmc]")
 {
     do_one_sdmmc_rw_test_unaligned_buffer(SLOT_1, 4, SDMMC_FREQ_DEFAULT, 0);
 }
+
+/* ========== Read/write tests with higher priority tasks running concurrently ========== */
+
+static void do_one_sdmmc_rw_test_highprio_task(int slot, int width)
+{
+    sdmmc_card_t card;
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, SDMMC_FREQ_DEFAULT, NO_DDR);
+    sdmmc_test_sd_begin(slot, width, SDMMC_FREQ_DEFAULT, NO_DDR, &card);
+    sdmmc_card_print_info(stdout, &card);
+    sdmmc_test_rw_highprio_task(&card);
+    sdmmc_test_sd_end(&card);
+}
+
+TEST_CASE("sdmmc read/write with concurrent high-prio task, slot 0, 4-bit", "[sdmmc]")
+{
+    do_one_sdmmc_rw_test_highprio_task(0, 4);
+}
+
+TEST_CASE("sdmmc read/write with concurrent high-prio task, slot 1, 4-bit", "[sdmmc]")
+{
+    do_one_sdmmc_rw_test_highprio_task(1, 4);
+}