esp32/mphalport: Always yield at least once in delay_ms.
This helps the OS switch to and give other threads processing time during the sleep. It also ensures that pending events are handled, even when sleeping for 0ms. Fixes issue #5344. Signed-off-by: Damien George <damien@micropython.org>
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@ -142,14 +142,22 @@ void mp_hal_delay_ms(uint32_t ms) {
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uint64_t dt;
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uint64_t t0 = esp_timer_get_time();
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for (;;) {
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mp_handle_pending(true);
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MICROPY_PY_USOCKET_EVENTS_HANDLER
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MP_THREAD_GIL_EXIT();
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uint64_t t1 = esp_timer_get_time();
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dt = t1 - t0;
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if (dt + portTICK_PERIOD_MS * 1000 >= us) {
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// doing a vTaskDelay would take us beyond requested delay time
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taskYIELD();
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MP_THREAD_GIL_ENTER();
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t1 = esp_timer_get_time();
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dt = t1 - t0;
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break;
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}
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MICROPY_EVENT_POLL_HOOK
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} else {
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ulTaskNotifyTake(pdFALSE, 1);
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MP_THREAD_GIL_ENTER();
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}
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}
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if (dt < us) {
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// do the remaining delay accurately
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