7141e3e29d
The cycle count that micros() is using to report timing is a PER Task value. When micros() or delayMicroseconds() is called from different Tasks, the lastCycleCount value may have no relationship to the current Task specific cycleCount. If the current cycleCount is less than the saved lastCycleCount a rollover condition is assumed. This erroneous conditions results in incorrect delays and reported microseconds. This fix creates thread local storage so that each Task will have accurate microsecond reporting and delays. The reported microseconds are not real time, they are microseconds of the current Task execution. |
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esp32 |