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 micropython#5344.

Signed-off-by: Damien George <[email protected]>

Author: dpgeorge

ports/esp32/mphalport.c

@@ -142,14 +142,22 @@ void mp_hal_delay_ms(uint32_t ms) {
     uint64_t dt;
     uint64_t t0 = esp_timer_get_time();
     for (;;) {
+        mp_handle_pending(true);
+        MICROPY_PY_USOCKET_EVENTS_HANDLER
+        MP_THREAD_GIL_EXIT();
         uint64_t t1 = esp_timer_get_time();
         dt = t1 - t0;
         if (dt + portTICK_PERIOD_MS * 1000 >= us) {
             // doing a vTaskDelay would take us beyond requested delay time
+            taskYIELD();
+            MP_THREAD_GIL_ENTER();
+            t1 = esp_timer_get_time();
+            dt = t1 - t0;
             break;
+        } else {
+            ulTaskNotifyTake(pdFALSE, 1);
+            MP_THREAD_GIL_ENTER();
         }
-        MICROPY_EVENT_POLL_HOOK
-        ulTaskNotifyTake(pdFALSE, 1);
     }
     if (dt < us) {
         // do the remaining delay accurately