add unit tests to esp-idf

rename nvs host test folder, modify .gitlab-ci.yml

remove unit-test-app build

re-format unit test files

remove extra newlines in project.mk

some refactoring for unit test part in project.mk

add build files of unit-test-app in gitignore

add README.md for unit test app

correct headings in README.md

remove files and make minor tweaks in unit test app

update .gitlab-ci.yml to use unit test app

delete unused lines in component_wrapper.mk

delete periph_i2s.h and lcd test

add text floating point in components/esp32/test/Kconfig

correct idf test build paths in .gitlab-ci.yml

components/freertos/test/component.mk

@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive

components/freertos/test/test_freertos.c

@@ -0,0 +1,229 @@
+/*
+ Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+void ets_isr_unmask(uint32_t unmask);
+
+static xQueueHandle myQueue;
+static xQueueHandle uartRxQueue;
+
+int ctr;
+
+#if 1
+//Idle-loop for delay. Tests involuntary yielding
+static void cvTaskDelay(int dummy)
+{
+    volatile int i;
+    for (i = 0; i < (1 << 17); i++);
+}
+#else
+//Delay task execution using FreeRTOS methods. Tests voluntary yielding.
+#define cvTaskDelay(x) vTaskDelay(x)
+#endif
+
+#if 0
+static void dosegfault3(int i)
+{
+    volatile char *p = (volatile char *)0;
+    *p = i;
+}
+
+static void dosegfault2(int i)
+{
+    if (i > 3) {
+        dosegfault3(i);
+    }
+}
+
+static void dosegfault(int i)
+{
+    if (i < 5) {
+        dosegfault(i + 1);
+    }
+    dosegfault2(i);
+}
+#endif
+
+static void queueSender(void *pvParameters)
+{
+    int myCtr = xPortGetCoreID() * 100000;
+    while (1) {
+        printf("Core %d: Send to queue: %d\n", xPortGetCoreID(), myCtr);
+        xQueueSend(myQueue, (void *)(&myCtr), portMAX_DELAY);
+        printf("Send to queue done.\n");
+        cvTaskDelay(100);
+        myCtr++;
+    }
+}
+
+static void queueReceiver(void *pvParameters)
+{
+    int theCtr;
+    while (1) {
+        xQueueReceive(myQueue, &theCtr, portMAX_DELAY);
+        printf("Core %d: Receive from queue: %d\n", xPortGetCoreID(), theCtr);
+    }
+}
+
+
+static void tskone(void *pvParameters)
+{
+//  char *p=(char *)0;
+    while (1) {
+        ctr++;
+//      if (ctr>60) dosegfault(3);
+        printf("Task1, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tsktwo(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task2, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskthree(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task3, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskfour(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task4, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskfive(void *pvParameters)
+{
+    while (1) {
+        ctr++;
+        printf("Task5, core %d, ctr=%d\n", xPortGetCoreID(), ctr);
+        cvTaskDelay(500);
+    }
+}
+
+static void tskyield(void *pvParameters)
+{
+    while (1) {
+        portYIELD();
+    }
+}
+
+static void  tskUartRecv(void *pvParameters)
+{
+    char c;
+    while (1) {
+        xQueueReceive(uartRxQueue, &c, portMAX_DELAY);
+        printf("Uart received %c!\n", c);
+    }
+}
+
+
+static void uartIsrHdl(void *arg)
+{
+    char c;
+    BaseType_t xHigherPriorityTaskWoken;
+    SET_PERI_REG_MASK(UART_INT_CLR_REG(0), UART_RXFIFO_FULL_INT_CLR);
+    while (READ_PERI_REG(UART_STATUS_REG(0)) & (UART_RXFIFO_CNT << UART_RXFIFO_CNT_S)) {
+        c = READ_PERI_REG(UART_FIFO_REG(0));
+        xQueueSendFromISR(uartRxQueue, &c, &xHigherPriorityTaskWoken);
+        printf("ISR: %c\n", c);
+    }
+    if (xHigherPriorityTaskWoken) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+static void uartRxInit(xQueueHandle q)
+{
+    uint32_t reg_val;
+
+    PIN_PULLUP_DIS(PERIPHS_IO_MUX_U0TXD_U);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_U0TXD_U0TXD);
+
+
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
+
+//  reg_val = READ_PERI_REG(UART_CONF1(0));
+    reg_val = (1 << UART_RXFIFO_FULL_THRHD_S);
+    WRITE_PERI_REG(UART_CONF1_REG(0), reg_val);
+    CLEAR_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_TXFIFO_EMPTY_INT_ENA | UART_RXFIFO_TOUT_INT_ENA);
+    SET_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_RXFIFO_FULL_INT_ENA);
+
+    printf("Enabling int %d\n", ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART_INTR_MAP_REG, DPORT_PRO_UART_INTR_MAP, ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART1_INTR_MAP_REG, DPORT_PRO_UART1_INTR_MAP, ETS_UART0_INUM);
+
+    xt_set_interrupt_handler(ETS_UART0_INUM, uartIsrHdl, NULL);
+    xt_ints_on(1 << ETS_UART0_INUM);
+
+}
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("Bunch of FreeRTOS tests", "[freertos]")
+{
+    char *tst;
+    TaskHandle_t th[12];
+    int i;
+    printf("%s\n", __FUNCTION__);
+    tst = pvPortMalloc(16);
+    printf("Test malloc returns addr %p\n", tst);
+    printf("Free heap: %u\n", xPortGetFreeHeapSize());
+    myQueue = xQueueCreate(10, sizeof(int));
+    uartRxQueue = xQueueCreate(256, sizeof(char));
+    printf("Free heap: %u\n", xPortGetFreeHeapSize());
+
+    printf("Creating tasks\n");
+    xTaskCreatePinnedToCore(tskyield  , "tskyield1"  , 2048, NULL, 3, &th[0], 0);
+    xTaskCreatePinnedToCore(tskyield  , "tskyield2"  , 2048, NULL, 3, &th[1], 1);
+
+    xTaskCreatePinnedToCore(tskone  , "tskone"  , 2048, NULL, 3, &th[2], 0);
+    xTaskCreatePinnedToCore(tsktwo  , "tsktwo"  , 2048, NULL, 3, &th[3], 1);
+    xTaskCreatePinnedToCore(tskthree, "tskthree", 2048, NULL, 3, &th[4], 0);
+    xTaskCreatePinnedToCore(tskfour , "tskfour" , 2048, NULL, 3, &th[5], tskNO_AFFINITY);
+    xTaskCreatePinnedToCore(tskfive , "tskfive" , 2048, NULL, 3, &th[6], tskNO_AFFINITY);
+    xTaskCreatePinnedToCore(queueSender , "qsend1" , 2048, NULL, 3, &th[7], 0);
+    xTaskCreatePinnedToCore(queueSender , "qsend2" , 2048, NULL, 3, &th[8], 1);
+    xTaskCreatePinnedToCore(queueReceiver , "qrecv1" , 2048, NULL, 3, &th[9], 1);
+    xTaskCreatePinnedToCore(queueReceiver , "qrecv2" , 2048, NULL, 3, &th[10], 0);
+    xTaskCreatePinnedToCore(tskUartRecv , "tskuart" , 2048, NULL, 4, &th[11], 1);
+    printf("Free heap: %u\n", xPortGetFreeHeapSize());
+    uartRxInit(uartRxQueue);
+
+    // Let stuff run for 20s
+    vTaskDelay(20000 / portTICK_PERIOD_MS);
+
+    //Shut down all the tasks
+    for (i = 0; i < 12; i++) {
+        vTaskDelete(th[i]);
+    }
+    xt_ints_off(1 << ETS_UART0_INUM);
+}
+

components/freertos/test/test_freertos_eventgroups.c

@@ -0,0 +1,105 @@
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/event_groups.h"
+#include "unity.h"
+
+#define BIT_CALL (1 << 0)
+#define BIT_RESPONSE(TASK) (1 << (TASK+1))
+#define ALL_RESPONSE_BITS (((1 << NUM_TASKS) - 1) << 1)
+
+static const int NUM_TASKS = 4;
+static const int COUNT = 4000;
+static EventGroupHandle_t eg;
+
+static void task_event_group_call_response(void *param)
+{
+    int task_num = (int)param;
+
+    printf("Started %d\n", task_num);
+
+    for (int i = 0; i < COUNT; i++) {
+        /* Wait until the common "call" bit is set, starts off all tasks
+           (clear on return) */
+        while (!xEventGroupWaitBits(eg, BIT_CALL, true, false, portMAX_DELAY)) {
+        }
+
+        /* Set our individual "response" bit */
+        xEventGroupSetBits(eg, BIT_RESPONSE(task_num));
+    }
+
+    printf("Task %d done\n", task_num);
+
+    /* Delay is due to not-yet-fixed bug with deleting tasks at same time */
+    vTaskDelay(100 / portTICK_RATE_MS);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("FreeRTOS Event Groups", "[freertos]")
+{
+    eg = xEventGroupCreate();
+
+    /* Note: task_event_group_call_response all have higher priority than us, so will block together.
+
+       This is important because we need to know they'll all have blocked on BIT_CALL each time we
+       signal it, or they get out of sync.
+     */
+    for (int c = 0; c < NUM_TASKS; c++) {
+        xTaskCreatePinnedToCore(task_event_group_call_response, "tsk_call_resp", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
+    }
+    /* Scheduler weirdness, if we don't sleep a few ticks here then the tasks on the other CPU aren't running yet... */
+    vTaskDelay(10);
+
+    for (int i = 0; i < COUNT; i++) {
+        if (i % 100 == 0) {
+            //printf("Call %d\n", i);
+        }
+        /* signal all tasks with "CALL" bit... */
+        xEventGroupSetBits(eg, BIT_CALL);
+
+        while (xEventGroupWaitBits(eg, ALL_RESPONSE_BITS, true, true, portMAX_DELAY) != ALL_RESPONSE_BITS) {
+        }
+    }
+}
+
+
+#define BIT_DONE(X) (1<<(NUM_TASKS+1+X))
+
+static void task_test_sync(void *param)
+{
+    int task_num = (int)param;
+
+    printf("Started %d\n", task_num);
+
+    for (int i = 0; i < COUNT; i++) {
+        /* set our bit, and wait on all tasks to set their bits */
+        xEventGroupSync(eg, BIT_RESPONSE(task_num), ALL_RESPONSE_BITS, portMAX_DELAY);
+        /* clear our bit */
+        xEventGroupClearBits(eg, BIT_RESPONSE(task_num));
+    }
+    int after_done = xEventGroupSetBits(eg, BIT_DONE(task_num));
+
+    printf("Done %d = %x\n", task_num, after_done);
+
+    /* Delay is due to not-yet-fixed bug with deleting tasks at same time */
+    vTaskDelay(100 / portTICK_RATE_MS);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("FreeRTOS Event Group Sync", "[freertos]")
+{
+    eg = xEventGroupCreate();
+
+    for (int c = 0; c < NUM_TASKS; c++) {
+        xTaskCreatePinnedToCore(task_test_sync, "task_test_sync", 4096, (void *)c, configMAX_PRIORITIES - 1, NULL, c % portNUM_PROCESSORS);
+    }
+
+    for (int c = 0; c < NUM_TASKS; c++) {
+        printf("Waiting on %d (%x)\n", c, BIT_DONE(c));
+        xEventGroupWaitBits(eg, BIT_DONE(c), false, false, portMAX_DELAY);
+    }
+}
+

components/freertos/test/test_freertos_task_delete.c

@@ -0,0 +1,22 @@
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/event_groups.h"
+#include "unity.h"
+
+static void task_delete_self(void *param)
+{
+    printf("Task %p running on core %d. Deleting shortly...\n", xTaskGetCurrentTaskHandle(), xPortGetCoreID());
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
+{
+    xTaskCreatePinnedToCore(task_delete_self, "tsk_self_a", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
+    xTaskCreatePinnedToCore(task_delete_self, "tsk_self_a", 4096, NULL, configMAX_PRIORITIES - 1, NULL, 0);
+    vTaskDelay(200 / portTICK_PERIOD_MS);
+    printf("Done?\n");
+}

components/freertos/test/test_newlib_reent.c

@@ -0,0 +1,60 @@
+/*
+ Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+volatile static int done;
+volatile static int error;
+
+static void tskTestRand(void *pvParameters)
+{
+    int l;
+    srand(0x1234);
+    vTaskDelay((int)pvParameters / portTICK_PERIOD_MS);
+    l = rand();
+    printf("Rand1: %d\n", l);
+    if (l != 869320854) {
+        error++;
+    }
+    vTaskDelay((int)pvParameters / portTICK_PERIOD_MS);
+    l = rand();
+    printf("Rand2: %d\n", l);
+    if (l != 1148737841) {
+        error++;
+    }
+    done++;
+    vTaskDelete(NULL);
+}
+
+
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("Test for per-task non-reentrant tasks", "[freertos]")
+{
+    done = 0;
+    error = 0;
+    xTaskCreatePinnedToCore(tskTestRand, "tsk1", 2048, (void *)100, 3, NULL, 0);
+    xTaskCreatePinnedToCore(tskTestRand, "tsk2", 2048, (void *)200, 3, NULL, 0);
+    xTaskCreatePinnedToCore(tskTestRand, "tsk3", 2048, (void *)300, 3, NULL, 1);
+    xTaskCreatePinnedToCore(tskTestRand, "tsk4", 2048, (void *)400, 3, NULL, 0);
+    while (done != 4) {
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+    TEST_ASSERT(error == 0);
+}
+

components/freertos/test/test_panic.c

@@ -0,0 +1,26 @@
+/*
+ Test for multicore FreeRTOS. This test spins up threads, fiddles with queues etc.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+TEST_CASE("Panic handler", "[freertos]")
+{
+    volatile int *i;
+    i = (volatile int *)0x0;
+    *i = 1;
+}
+

components/freertos/test/test_ringbuf.c

@@ -0,0 +1,197 @@
+/*
+ Test for multicore FreeRTOS ringbuffer.
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/ringbuf.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+#include <string.h>
+#include <stdio.h>
+
+void ets_isr_unmask(uint32_t unmask);
+
+static RingbufHandle_t rb;
+typedef enum {
+    TST_MOSTLYFILLED,
+    TST_MOSTLYEMPTY,
+    TST_INTTOTASK,
+    TST_TASKTOINT,
+} testtype_t;
+
+static volatile testtype_t testtype;
+
+static void task1(void *arg)
+{
+    testtype_t oldtest;
+    char buf[100];
+    int i = 0;
+    int x, r;
+    while (1) {
+        oldtest = testtype;
+        if (testtype == TST_MOSTLYFILLED || testtype == TST_MOSTLYEMPTY) {
+            for (x = 0; x < 10; x++) {
+                sprintf(buf, "This is test %d item %d.", (int)testtype,  i++);
+                ets_printf("TSK w");
+                xRingbufferPrintInfo(rb);
+                r = xRingbufferSend(rb, buf, strlen(buf) + 1, 2000 / portTICK_PERIOD_MS);
+                if (!r) {
+                    printf("Test %d: Timeout on send!\n", (int)testtype);
+                }
+                if (testtype == TST_MOSTLYEMPTY) {
+                    vTaskDelay(1000 / portTICK_PERIOD_MS);
+                }
+            }
+            //Send NULL event to stop other side.
+            r = xRingbufferSend(rb, NULL, 0, 10000 / portTICK_PERIOD_MS);
+        }
+        while (oldtest == testtype) {
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+        }
+    }
+}
+
+static void task2(void *arg)
+{
+    testtype_t oldtest;
+    char *buf;
+    size_t len;
+    while (1) {
+        oldtest = testtype;
+        if (testtype == TST_MOSTLYFILLED || testtype == TST_MOSTLYEMPTY) {
+            while (1) {
+                ets_printf("TSK r");
+                xRingbufferPrintInfo(rb);
+                buf = xRingbufferReceive(rb, &len, 2000 / portTICK_PERIOD_MS);
+                if (buf == NULL) {
+                    printf("Test %d: Timeout on recv!\n", (int)testtype);
+                } else if (len == 0) {
+                    printf("End packet received.\n");
+                    vRingbufferReturnItem(rb, buf);
+                    break;
+                } else {
+                    printf("Received: %s (%d bytes, %p)\n", buf, len, buf);
+                    vRingbufferReturnItem(rb, buf);
+                }
+                if (testtype == TST_MOSTLYFILLED) {
+                    vTaskDelay(1000 / portTICK_PERIOD_MS);
+                }
+            }
+        }
+        while (oldtest == testtype) {
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+        }
+    }
+}
+
+
+
+static void uartIsrHdl(void *arg)
+{
+    char c;
+    char buf[50];
+    char *item;
+    int r;
+    size_t len;
+    BaseType_t xHigherPriorityTaskWoken;
+    SET_PERI_REG_MASK(UART_INT_CLR_REG(0), UART_RXFIFO_FULL_INT_CLR);
+    while (READ_PERI_REG(UART_STATUS_REG(0)) & (UART_RXFIFO_CNT << UART_RXFIFO_CNT_S)) {
+        c = READ_PERI_REG(UART_FIFO_REG(0));
+        if (c == 'r') {
+            ets_printf("ISR r");
+            xRingbufferPrintInfo(rb);
+            item = xRingbufferReceiveFromISR(rb, &len);
+            if (item == NULL) {
+                ets_printf("ISR recv fail!\n");
+            } else if (len == 0) {
+                ets_printf("ISR recv NULL!\n");
+                vRingbufferReturnItemFromISR(rb, item, &xHigherPriorityTaskWoken);
+            } else {
+                ets_printf("ISR recv '%s' (%d bytes, %p)\n", buf, len, buf);
+                vRingbufferReturnItemFromISR(rb, item, &xHigherPriorityTaskWoken);
+            }
+        } else {
+            sprintf(buf, "UART: %c", c);
+            ets_printf("ISR w");
+            xRingbufferPrintInfo(rb);
+            r = xRingbufferSendFromISR(rb, buf, strlen(buf) + 1, &xHigherPriorityTaskWoken);
+            if (!r) {
+                ets_printf("ISR send fail\n");
+            }
+        }
+    }
+    if (xHigherPriorityTaskWoken) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+static void uartRxInit()
+{
+    uint32_t reg_val;
+    PIN_PULLUP_DIS(PERIPHS_IO_MUX_U0TXD_U);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0RXD_U, FUNC_U0RXD_U0RXD);
+    PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_U0TXD_U0TXD);
+
+//  reg_val = READ_PERI_REG(UART_CONF1(0));
+    reg_val = (1 << UART_RXFIFO_FULL_THRHD_S);
+    WRITE_PERI_REG(UART_CONF1_REG(0), reg_val);
+    CLEAR_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_TXFIFO_EMPTY_INT_ENA | UART_RXFIFO_TOUT_INT_ENA);
+    SET_PERI_REG_MASK(UART_INT_ENA_REG(0), UART_RXFIFO_FULL_INT_ENA);
+
+    printf("Enabling int %d\n", ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART_INTR_MAP_REG, DPORT_PRO_UART_INTR_MAP, ETS_UART0_INUM);
+    REG_SET_FIELD(DPORT_PRO_UART1_INTR_MAP_REG, DPORT_PRO_UART1_INTR_MAP, ETS_UART0_INUM);
+
+    xt_set_interrupt_handler(ETS_UART0_INUM, uartIsrHdl, NULL);
+    xt_ints_on(1 << ETS_UART0_INUM);
+
+}
+
+static void testRingbuffer(int type)
+{
+    TaskHandle_t th[2];
+    int i;
+    rb = xRingbufferCreate(32 * 3, type);
+
+    testtype = TST_MOSTLYFILLED;
+
+    xTaskCreatePinnedToCore(task1  , "tskone"  , 2048, NULL, 3, &th[0], 0);
+    xTaskCreatePinnedToCore(task2  , "tsktwo"  , 2048, NULL, 3, &th[1], 0);
+    uartRxInit();
+
+    printf("Press 'r' to read an event in isr, any other key to write one.\n");
+    printf("Test: mostlyfilled; putting 10 items in ringbuff ASAP, reading 1 a second\n");
+    vTaskDelay(15000 / portTICK_PERIOD_MS);
+    printf("Test: mostlyempty; putting 10 items in ringbuff @ 1/sec, reading as fast as possible\n");
+    testtype = TST_MOSTLYEMPTY;
+    vTaskDelay(15000 / portTICK_PERIOD_MS);
+
+    //Shut down all the tasks
+    for (i = 0; i < 2; i++) {
+        vTaskDelete(th[i]);
+    }
+    xt_ints_off(1 << ETS_UART0_INUM);
+}
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("FreeRTOS ringbuffer test, no splitting items", "[freertos]")
+{
+    testRingbuffer(0);
+}
+
+TEST_CASE("FreeRTOS ringbuffer test, w/ splitting items", "[freertos]")
+{
+    testRingbuffer(1);
+}
+

components/freertos/test/test_tls_deletecb.c

@@ -0,0 +1,58 @@
+#include <esp_types.h>
+#include <stdio.h>
+#include "rom/ets_sys.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/xtensa_api.h"
+#include "unity.h"
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+#include "soc/io_mux_reg.h"
+
+
+
+static void tskdelcb(int no, void *arg)
+{
+    printf("Delete callback: %d = %p!\n", no,  arg);
+}
+
+
+static void tska(void *pvParameters)
+{
+    vTaskSetThreadLocalStoragePointerAndDelCallback(xTaskGetCurrentTaskHandle(), 0, (void *)0xAAAAAAAA, tskdelcb);
+    while (1) {
+        vTaskDelay(10000000 / portTICK_PERIOD_MS);
+    }
+}
+
+static void tskb(void *pvParameters)
+{
+    vTaskSetThreadLocalStoragePointerAndDelCallback(xTaskGetCurrentTaskHandle(), 0, (void *)0xBBBBBBBB, tskdelcb);
+    vTaskDelay(2000 / portTICK_PERIOD_MS);
+    TaskHandle_t a = (TaskHandle_t)pvParameters;
+    printf("Killing task A\n");
+    vTaskDelete(a);
+    while (1) {
+        vTaskDelay(10000000 / portTICK_PERIOD_MS);
+    }
+}
+
+
+// TODO: split this thing into separate orthogonal tests
+TEST_CASE("Freertos TLS delete cb", "[freertos]")
+{
+    TaskHandle_t a, b;
+
+    xTaskCreatePinnedToCore(tska  , "tska"  , 2048, NULL, 3, &a, 0);
+    xTaskCreatePinnedToCore(tskb  , "tska"  , 2048, a, 3, &b, 0);
+
+    // Let stuff run for 20s
+    vTaskDelay(5000 / portTICK_PERIOD_MS);
+    printf("Killing task B\n");
+    //Shut down b
+    vTaskDelete(b);
+}
+