feat(esp_system): Add esp_backtrace_print_all_tasks()

This commit adds esp_backtrace_print_all_tasks() which prints the backtraces
of all tasks at runtime.

Closes https://github.com/espressif/esp-idf/issues/9708
CLoses https://github.com/espressif/esp-idf/pull/11575

[Omar Chebib: Prevent task switching while printing backtraces of tasks.]
[Omar Chebib: Ensure all task stacks are flushed from register to RAM.]
[Omar Chebib: Removed esp_task_snapshot_to_backtrace_frame() as task snapshot is private API.]
[Omar Chebib: Added test case for esp_backtrace_print_all_tasks().]

Signed-off-by: Omar Chebib <omar.chebib@espressif.com>

components/esp_system/include/esp_debug_helpers.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -13,8 +13,9 @@ extern "C" {
 #ifndef __ASSEMBLER__
 
 #include <stdbool.h>
-#include "esp_err.h"
+#include "sdkconfig.h"
 #include "soc/soc.h"  // [refactor-todo] IDF-2297
+#include "esp_err.h"
 #include "esp_cpu.h"
 
 /*
@@ -114,6 +115,20 @@ esp_err_t esp_backtrace_print_from_frame(int depth, const esp_backtrace_frame_t*
  */
 esp_err_t esp_backtrace_print(int depth);
 
+/**
+ * @brief Print the backtrace of all tasks
+ *
+ * @param depth The maximum number of stack frames to print (must be > 0)
+ *
+ * @note Users must ensure that no tasks are created or deleted while this function is running.
+ * @note This function must be called from a task context.
+ *
+ * @return
+ *      - ESP_OK    All backtraces successfully printed to completion or to depth limit
+ *      - ESP_FAIL  One or more backtraces are corrupt
+ */
+esp_err_t esp_backtrace_print_all_tasks(int depth);
+
 /**
  * @brief Set a watchpoint to break/panic when a certain memory range is accessed.
  * Superseded by esp_cpu_set_watchpoint in esp_cpu.h.