From c23eb168277d727b7b279d337dd934c9af1b78b3 Mon Sep 17 00:00:00 2001
From: dizcza <dizcza@gmail.com>
Date: Tue, 6 Feb 2024 23:26:36 +0200
Subject: [PATCH] esp-idf millis fixes

---
 src/SensorLib.h              |  4 ++--
 src/SensorQMI8658.hpp        |  2 +-
 src/platform/esp_arduino.cpp | 24 ++++++++----------------
 3 files changed, 11 insertions(+), 19 deletions(-)

diff --git a/src/SensorLib.h b/src/SensorLib.h
index bf34f89..1e552ac 100644
--- a/src/SensorLib.h
+++ b/src/SensorLib.h
@@ -142,8 +142,8 @@ typedef struct __SensorLibPins {
 #define LOG(fmt, ...) LOG_PORT.printf("[%s] " fmt "\n", __func__, ##__VA_ARGS__)
 #define LOG_BIN(x)    LOG_PORT.println(x,BIN);
 #else
-#define LOG(fmt, ...)
-#define LOG_BIN(x)
+#define LOG(fmt, ...) printf("[%s] " fmt "\n", __func__, ##__VA_ARGS__)
+#define LOG_BIN(x)    printf("[%s] 0x%X\n", __func__, x)
 #endif
 
 #ifndef lowByte
diff --git a/src/SensorQMI8658.hpp b/src/SensorQMI8658.hpp
index 4ef90d9..b04414f 100644
--- a/src/SensorQMI8658.hpp
+++ b/src/SensorQMI8658.hpp
@@ -210,7 +210,7 @@ class SensorQMI8658 :
 
     bool reset(bool waitResult = true, uint32_t timeout = 500)
     {
-        int val;
+        int val = 0;  // initialize with some value to avoid compilation errors
         writeRegister(QMI8658_REG_RESET, QMI8658_REG_RESET_DEFAULT);
         // Maximum 15ms for the Reset process to be finished
         if (waitResult) {
diff --git a/src/platform/esp_arduino.cpp b/src/platform/esp_arduino.cpp
index 9e4d6b6..169265a 100644
--- a/src/platform/esp_arduino.cpp
+++ b/src/platform/esp_arduino.cpp
@@ -11,6 +11,8 @@
 #include "driver/gpio.h"
 #include "esp_timer.h"
 #include "freertos/FreeRTOS.h"
+#include <rom/ets_sys.h>
+
 
 void pinMode(uint32_t gpio, uint8_t mode)
 {
@@ -43,32 +45,22 @@ int digitalRead(uint32_t gpio)
 
 void delay(uint32_t ms)
 {
-    vTaskDelay(ms / portTICK_PERIOD_MS);
+    vTaskDelay(pdMS_TO_TICKS(ms));
+    ets_delay_us((ms % portTICK_PERIOD_MS) * 1000UL);
 }
 
 uint32_t millis()
 {
-    return esp_timer_get_time();
+    return (uint32_t) (esp_timer_get_time() / 1000LL);
 }
 
 uint32_t micros()
 {
-    return (esp_timer_get_time() / 1000ULL);
+    return (uint32_t) esp_timer_get_time();
 }
 
 void delayMicroseconds(uint32_t us)
 {
-    uint64_t m = (uint64_t)esp_timer_get_time();
-    if (us) {
-        uint64_t e = (m + us);
-        if (m > e) {
-            while ((uint64_t)esp_timer_get_time() > e) {
-                asm volatile ("nop");
-            }
-        }
-        while ((uint64_t)esp_timer_get_time() < e) {
-            asm volatile ("nop");
-        }
-    }
+    ets_delay_us(us);
 }
-#endif
\ No newline at end of file
+#endif