micros() returning inconsistent values when call from different tasks

cores/esp32/esp32-hal-misc.c

@@ -38,20 +38,45 @@ void yield()
 }
 
 portMUX_TYPE microsMux = portMUX_INITIALIZER_UNLOCKED;
+static pthread_key_t microsStore=NULL; // Thread Local Storage Handle
+
+void* microsStoreDelete(void * storage) {  // release thread local data when task is delete.
+    if(storage) free(storage);
+}
 
 unsigned long IRAM_ATTR micros()
 {
-    static unsigned long lccount = 0;
-    static unsigned long overflow = 0;
+    if (!microsStore) { // first Time Ever thread local not init'd
+        portENTER_CRITICAL_ISR(&microsMux);
+        pthread_key_create(&microsStore,microsStoreDelete); // create initial holder
+        portEXIT_CRITICAL_ISR(&microsMux);
+    }
+
+    uint32_t *ptr;// [0] is lastCount, [1] is overFlow
+
+    ptr = pthread_getspecific(microsStore); // get address of storage
+
+    if(ptr == NULL) { // first time in this thread, allocate mem, init it.  
+        portENTER_CRITICAL_ISR(&microsMux);
+        ptr = (uint32_t*)malloc(sizeof(uint32_t)*2);
+        pthread_setspecific(microsStore,ptr); // store the pointer to this thread's values
+        ptr[0] = 0; // lastCount value
+        ptr[1] = 0; // overFlow
+        portEXIT_CRITICAL_ISR(&microsMux);
+    }  
+
     unsigned long ccount;
+
     portENTER_CRITICAL_ISR(&microsMux);
-    __asm__ __volatile__ ( "rsr     %0, ccount" : "=a" (ccount) );
-    if(ccount < lccount){
-        overflow += UINT32_MAX / CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ;
+    __asm__ __volatile__ ( "rsr     %0, ccount" : "=a" (ccount) ); //get cycle count
+    if(ccount < ptr[0]) { // overflow occurred
+        ptr[1] += UINT32_MAX / CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ;
     }
-    lccount = ccount;
+
+    ptr[0] = ccount;
     portEXIT_CRITICAL_ISR(&microsMux);
-    return overflow + (ccount / CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ);
+
+    return ptr[1] + (ccount / CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ);
 }
 
 unsigned long IRAM_ATTR millis()