Added test for freertos. Only for BOARD:esp32-wroom-32 at the moment.
At the moment it only tests xSemaphoreTake(), xSemaphoreTakeRecursive() and the creation of the semaphore.
It creates the semaphore and calls take for it multiple times and checks whether the return value is correct.
Take should return (quote freertos documention):
"pdPASS Returned only if the call to xSemaphoreTakeRecursive() was successful in obtaining the semaphore."
"pdFAIL Returned if the call to xSemaphoreTakeRecursive() did not successfully obtain the semaphore."
The same for xSemaphoreTake().
The future goal for this test is to test the complete freertos compatibility layer
and to have the test for a general freertos compatibility layer that does not only work for esp32.

xSemaphoreTake() returned before the fix: pdFALSE(equal to pdFAIL) when the call was successful in obtaining the semaphore
and pdTRUE(equal to pdPASS) when the call did not successfully obtain the semaphore.
According to freertos documentation:
"pdPASS Returned only if the call to xSemaphoreTake() was successful in obtaining the semaphore"
"pdFAIL Returned if the call to xSemaphoreTake() did not successfully obtain the semaphore."
Fixed it to return the correct value.

xSemaphoreTakeRecursive() returned before the fix: pdFALSE(equal to pdFAIL) when the call was successful in obtaining the semaphore
and pdTRUE(equal to pdPASS) when the call did not successfully obtain the semaphore.
According to freertos documentation:
"pdPASS Returned only if the call to xSemaphoreTakeRecursive() was successful in obtaining the semaphore"
"pdFAIL Returned if the call to xSemaphoreTakeRecursive() did not successfully obtain the semaphore."
Fixed it to return the correct value.

This reverts commit 0a7a86d.