Ensure supervisor_tick is run on the same core as CP

ports/espressif/Makefile

@@ -94,6 +94,7 @@ INC += \
 	-isystem esp-idf/components/esp_event/include \
 	-isystem esp-idf/components/esp_hw_support/include \
 	-isystem esp-idf/components/esp_hw_support/include/soc \
+	-isystem esp-idf/components/esp_ipc/include \
 	-isystem esp-idf/components/esp_netif/include \
 	-isystem esp-idf/components/esp_pm/include \
 	-isystem esp-idf/components/esp_ringbuf/include \

ports/espressif/supervisor/port.c

@@ -77,6 +77,8 @@
 
 #include "esp_debug_helpers.h"
 
+#include "esp_ipc.h"
+
 #ifdef CONFIG_SPIRAM
 #include "esp32/spiram.h"
 #endif
@@ -103,7 +105,7 @@ TaskHandle_t circuitpython_task = NULL;
 
 extern void esp_restart(void) NORETURN;
 
-STATIC void tick_timer_cb(void *arg) {
+STATIC void tick_on_cp_core(void *arg) {
     supervisor_tick();
 
     // CircuitPython's VM is run in a separate FreeRTOS task from timer callbacks. So, we have to
@@ -111,6 +113,18 @@ STATIC void tick_timer_cb(void *arg) {
     xTaskNotifyGive(circuitpython_task);
 }
 
+// This function may happen on the PRO core when CP is on the APP core. So, make
+// sure we run on the CP core.
+STATIC void tick_timer_cb(void *arg) {
+    #if defined(CONFIG_FREERTOS_UNICORE) && CONFIG_FREERTOS_UNICORE
+    tick_on_cp_core(arg);
+    #else
+    // This only blocks until the start of the function. That's ok since the PRO
+    // core shouldn't care what we do.
+    esp_ipc_call(CONFIG_ESP_MAIN_TASK_AFFINITY, tick_on_cp_core, NULL);
+    #endif
+}
+
 void sleep_timer_cb(void *arg);
 
 safe_mode_t port_init(void) {