diff --git a/components/freertos/include/freertos/FreeRTOSConfig.h b/components/freertos/include/freertos/FreeRTOSConfig.h
index 81e8a7734..3ccd3fda6 100644
--- a/components/freertos/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/include/freertos/FreeRTOSConfig.h
@@ -269,9 +269,7 @@ extern void vPortCleanUpTCB ( void *pxTCB );
 #define configXT_BOARD                      1   /* Board mode */
 #define configXT_SIMULATOR					0
 
-#if CONFIG_ESP32_ENABLE_COREDUMP
 #define configENABLE_TASK_SNAPSHOT			1
-#endif
 
 #if CONFIG_SYSVIEW_ENABLE
 #ifndef __ASSEMBLER__
diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index 0433deb2a..9126f862e 100644
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -4991,22 +4991,24 @@ TickType_t uxReturn;
 #endif /* configUSE_TASK_NOTIFICATIONS */
 
 #if ( configENABLE_TASK_SNAPSHOT == 1 )
-
-    static void prvTaskGetSnapshot( TaskSnapshot_t *pxTaskSnapshotArray, UBaseType_t *uxTask, TCB_t *pxTCB )
-    {
-        pxTaskSnapshotArray[ *uxTask ].pxTCB = pxTCB;
-        pxTaskSnapshotArray[ *uxTask ].pxTopOfStack = (StackType_t *)pxTCB->pxTopOfStack;
-        #if( portSTACK_GROWTH < 0 )
-        {
-            pxTaskSnapshotArray[ *uxTask ].pxEndOfStack = pxTCB->pxEndOfStack;
-        }
-        #else
-        {
-            pxTaskSnapshotArray[ *uxTask ].pxEndOfStack = pxTCB->pxStack;
-        }
-        #endif
-        (*uxTask)++;
-    }
+	static void prvTaskGetSnapshot( TaskSnapshot_t *pxTaskSnapshotArray, UBaseType_t *uxTask, TCB_t *pxTCB )
+	{
+		if (pxTCB == NULL) {
+			return;
+		}
+		pxTaskSnapshotArray[ *uxTask ].pxTCB = pxTCB;
+		pxTaskSnapshotArray[ *uxTask ].pxTopOfStack = (StackType_t *)pxTCB->pxTopOfStack;
+		#if( portSTACK_GROWTH < 0 )
+		{
+			pxTaskSnapshotArray[ *uxTask ].pxEndOfStack = pxTCB->pxEndOfStack;
+		}
+		#else
+		{
+			pxTaskSnapshotArray[ *uxTask ].pxEndOfStack = pxTCB->pxStack;
+		}
+		#endif
+		(*uxTask)++;
+	}
 
 	static void prvTaskGetSnapshotsFromList( TaskSnapshot_t *pxTaskSnapshotArray, UBaseType_t *uxTask, const UBaseType_t uxArraySize, List_t *pxList )
 	{
@@ -5017,12 +5019,11 @@ TickType_t uxReturn;
 			listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
 			do
 			{
-				listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
-
 				if( *uxTask >= uxArraySize )
 					break;
 
-                prvTaskGetSnapshot( pxTaskSnapshotArray, uxTask, pxNextTCB );
+				listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
+				prvTaskGetSnapshot( pxTaskSnapshotArray, uxTask, pxNextTCB );
 			} while( pxNextTCB != pxFirstTCB );
 		}
 		else
@@ -5035,8 +5036,6 @@ TickType_t uxReturn;
 	{
 		UBaseType_t uxTask = 0, i = 0;
 
-PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB[ portNUM_PROCESSORS ] = { NULL };
-
 
 		*pxTcbSz = sizeof(TCB_t);
 		/* Fill in an TaskStatus_t structure with information on each
@@ -5052,12 +5051,11 @@ PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB[ portNUM_PROCESSORS ] = { NULL };
 		task in the Blocked state. */
 		prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, ( List_t * ) pxDelayedTaskList );
 		prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, ( List_t * ) pxOverflowDelayedTaskList );
-        for (i = 0; i < portNUM_PROCESSORS; i++) {
-            if( uxTask >= uxArraySize )
-                    break;
-            prvTaskGetSnapshot( pxTaskSnapshotArray, &uxTask, pxCurrentTCB[ i ] );
-            prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, &( xPendingReadyList[ i ] ) );
-        }
+		for (i = 0; i < portNUM_PROCESSORS; i++) {
+			if( uxTask >= uxArraySize )
+				break;
+			prvTaskGetSnapshotsFromList( pxTaskSnapshotArray, &uxTask, uxArraySize, &( xPendingReadyList[ i ] ) );
+		}
 
 		#if( INCLUDE_vTaskDelete == 1 )
 		{
diff --git a/components/freertos/test/test_tasks_snapshot.c b/components/freertos/test/test_tasks_snapshot.c
new file mode 100644
index 000000000..c9364cc18
--- /dev/null
+++ b/components/freertos/test/test_tasks_snapshot.c
@@ -0,0 +1,35 @@
+/*
+ Test FreeRTOS support for core dump.
+*/
+
+#include <stdio.h>
+#include "soc/cpu.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "unity.h"
+
+#define TEST_MAX_TASKS_NUM	32
+
+/* simple test to check that in normal conditions uxTaskGetSnapshotAll does not generate exception */
+TEST_CASE("Tasks snapshot", "[freertos]")
+{
+    TaskSnapshot_t tasks[TEST_MAX_TASKS_NUM];
+    UBaseType_t tcb_sz;
+    int other_core_id = xPortGetCoreID() == 0 ? 1 : 0;
+
+    // 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 = portENTER_CRITICAL_NESTED();
+#if CONFIG_FREERTOS_UNICORE == 0
+    esp_cpu_stall(other_core_id);
+#endif
+    UBaseType_t task_num = uxTaskGetSnapshotAll(tasks, TEST_MAX_TASKS_NUM, &tcb_sz);
+#if CONFIG_FREERTOS_UNICORE == 0
+    esp_cpu_unstall(other_core_id);
+#endif
+    portEXIT_CRITICAL_NESTED(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);
+}