make esp task yielding more consistent and reduce overhead

src/globals.c

@@ -5,6 +5,24 @@
 
 #include "globals.h"
 
+#ifdef ESP_PLATFORM
+  #include "esp_task_wdt.h"
+  #include "esp_timer.h"
+
+  // Time between vTaskDelay calls in microseconds
+  #define TASK_YIELD_INTERVAL 1000 * 1000
+  // How many ticks to delay for on each yield
+  #define TASK_YIELD_TICKS 1
+
+  int64_t last_yield = 0;
+  void task_yield () {
+    int64_t time_now = esp_timer_get_time();
+    if (time_now - last_yield < TASK_YIELD_INTERVAL) return;
+    vTaskDelay(TASK_YIELD_TICKS);
+    last_yield = time_now;
+  }
+#endif
+
 ssize_t recv_count;
 uint8_t recv_buffer[256] = {0};