Animation robustness improvements

- Check if animation is valid in all methods of AnimationController
- Fixed timing (+crash) for quick loops of LED task

include/Animation/AnimationController.h

@@ -37,7 +37,7 @@ class AnimationController
 
         bool isIdle(void)
         {
-            return m_animation->finished() && !m_nextAnimation;
+            return !m_animation || (m_animation->finished() && !m_nextAnimation);
         }
 
     private:

src/Animation/AnimationController.cpp

@@ -75,11 +75,16 @@ void AnimationController::loop(void)
 
 void AnimationController::stop(void)
 {
-    m_animation->stop();
+    if(m_animation) {
+        m_animation->stop();
+    }
 }
 
 void AnimationController::restart(void)
 {
-    m_animation->reset();
+    if(m_animation) {
+        m_animation->reset();
+    }
+
     m_frame = 0;
 }

src/main.cpp

@@ -187,6 +187,18 @@ static void ledFSM(void)
   stateEntered = (lastState != ledState);
 }
 
+static void fineDelay(uint32_t us)
+{
+  uint32_t ms = us / 1000;
+  us -= ms * 1000;
+
+  if(ms) {
+    delay(ms);
+  }
+
+  delayMicroseconds(us);
+}
+
 static void ledTask( void * parameter )
 {
   uint64_t frame = 0;
@@ -227,16 +239,18 @@ static void ledTask( void * parameter )
     uint32_t now = micros();
     uint32_t duration = now - start_time;
 
-    if(frame % 50 == 0) {
+    if(frame % 60 == 0) {
       uint32_t load = 100 * duration / FRAME_INTERVAL_US;
 
-      Serial.print("CPU Load: ");
+      Serial.print("Duration: ");
+      Serial.print(duration);
+      Serial.print("μs → CPU Load: ");
       Serial.print(load);
       Serial.println(" %");
     }
 
     if(duration < FRAME_INTERVAL_US) {
-      delayMicroseconds(FRAME_INTERVAL_US - duration);
+      fineDelay(FRAME_INTERVAL_US - duration);
     }
   }
   /* delete a task when finish,