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The following changes are made in this commit: 1. This commit updates the implementation of usleep() to now always yield CPU time if undergoing a multi-tick sleep. This reduces the accuracy of usleep() but in turn allows the scheduler to schedule different tasks. 2. The commit also updates the MCPWM unit test which fails due to the change in the behavior of usleep(). Closes: https://github.com/espressif/esp-idf/pull/15132