TaskHandle_t task1Handle;
TaskHandle_t task2Handle;

volatile long int counter0 = 0;
volatile long int counter1 = 0;

hw_timer_t *timer0 = NULL;
hw_timer_t *timer1 = NULL;
portMUX_TYPE timerMUX = portMUX_INITIALIZER_UNLOCKED;

volatile long int lastMillis = millis();

void task1(void *parameter) {
  for (int i=0;i<100;i++) {
    
  }
  Serial.print("Task 1 finished\tt(ms):");
  Serial.println(millis());

  vTaskDelete(NULL);
  
}

void task2(void *parameter) {
  for (int i=0;i<100;i++) {
    
  }
  Serial.print("Task 2 finished\tt(ms):");
  Serial.println(millis());
  
  vTaskDelete(NULL);
  
}

void IRAM_ATTR onTimer0() {
  portENTER_CRITICAL_ISR(&timerMUX);
  counter0++;
  portEXIT_CRITICAL_ISR(&timerMUX);
}

void IRAM_ATTR onTimer1() {
  portENTER_CRITICAL_ISR(&timerMUX);
  counter1++;
  portEXIT_CRITICAL_ISR(&timerMUX);
}

void setup() {
  Serial.begin(115200);

  // Timer0 configuration
  timer0 = timerBegin(0, 80, true);
  timerAttachInterrupt(timer0, &onTimer0, true);
  timerAlarmWrite(timer0, 100000, true); // 0.1 s
  timerAlarmEnable(timer0);

  // Timer1 configuration
  timer1 = timerBegin(1, 80, true);
  timerAttachInterrupt(timer1, &onTimer1, true);
  timerAlarmWrite(timer1, 100000, true); // 0.1 s
  timerAlarmEnable(timer1);
  
  

}


void loop() {

  xTaskCreatePinnedToCore(task1, "Task 1", 10000, NULL, 0, &task1Handle, 0);
  xTaskCreatePinnedToCore(task2, "Task 2", 10000, NULL, 0, &task2Handle, 1);

  Serial.print("Counter0: ");
  Serial.print(counter0);
  Serial.print("\tt(ms):");
  Serial.println(millis());

  Serial.print("Counter1: ");
  Serial.print(counter1);
  Serial.print("\tt(ms):");
  Serial.println(millis());

  //Serial.println(millis()-lastMillis);
  delay(1000-(millis()-lastMillis)); //use time measurement using constant delay.  
  lastMillis = millis();

  
}