I sadly dont have an ESP32 with me at the moment, so I cant check it myself. ) Jan 3, 2021. For ESP-IDF, you can use this:ducalex commented Jul 11, 2019 •. But for USB work (and I’m just getting to the "oh, I see" stage with that) you really have to use interrupts. FreeRTOS use premonition system to schedule task, that's means if a task with higher priority exist in running state, scheduler never switch to another task. I was wondering how I can delay for longer periods of time using freertos function vTaskDelay(). Because the next SI prefix is. That's why the limitation on minimal period is there. Delay a task for a given number of ticks. I tried to increase […]vTaskDelay for 1uS, possible?Posted by willywortel on December 3, 2008First of all, thanks everyone for the response so far. Also when both it and the CAN task: for ( ;; ) After that, you can use vTaskDelay (. The latest version of FreeRTOS came with the "tick". I tried using the xSemaphoreGiveFromISR function. mk","contentType":"file"},{"name":"lame_test. Which one of the tv_sec or tv_usec values is used seems implementation dependent, as usual with POSIX you cannot trust anyone to assume a fixed behavior. delay () is a blocking function. If you don't put something that blocks the fors(), same priority tasks that you created never get CPU. vTaskDelay for 1uS, possible?Posted by willywortel on December 3, 2008First of all, thanks everyone for the response so far. If not other tasks are in the ready state, it will default to running the IDLE task (IDLE0 or. This port configTICK_RATE_HZ is defined 1000. all these are correct?. Problem is, I cannot start them from outside before the time is over. Neat. If I use vTaskDelayUntil() along xTaskAbortDelay(), the program fails. Note that millis() doses not advance every. 1 seconds to run and the vtaskDelay is set to 2 seconds, that means that the next time this task will be scheduled after 2. Microsecond delay within taskPosted by pugglewuggle on December 24, 2014Is there any method of doing this with FreeRTOS 8. Returns. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. The code simply reads an input on the serial port and returns it with some extra text. One is to wait for a period after resetting a chip (BME280). So with a 1ms period you have 1ms resolution. You really helped me out!. Hi, it's me again with more stupid questions. Previously I used OPEN RTOS SDK and the library whic. Using delayMicroseconds in RTOS cause crashed. The timebase is the same as for the values returned by esp_timer_get. Delaying in microseconds, Delays to things like vTaskDelay will; be in units of ticks, you could always define something like portTICKPERIODMICROSEC, but you still won’t get a finer resolution. Post by davdav » Thu Nov 22, 2018 10:59 pm . For a normal Arduino @16MHz only the following code will be compiled: /* Delay for the given number of microseconds. in the interrupt, you can yieldfromISR , taskgivefromISR etc this way you can get a. h" header file which is not a part of standard C library. Like updating LEDs, checking a battery level, etc. Vinay, Have you tried using a dedicated timer peripheral? Based on the Technical Reference Manual, you should be able to configure a timer to use a 27 MHz clock. e. */ const TickType_t xDelay = 500 / portTICK_PERIOD_MS; for ( ;; ) { /* Simply toggle the LED every 500ms,. Yes, this will work on non CM0 (+) parts. It takes in a single parameter which is the stream where the data will be dumped. We have 10 and 40 microseconds delay requirement for our application development purpose. I also tried with channel 6 just to see. eg. migmel (Miguel) July 10, 2023, 5:00am 7. int64_t esp_timer_get_next_alarm (void) Get the timestamp when the next timeout is expected to occur. Idahowalker:Understanding the vTaskDelay help. Hello, I am trying to provide delay between the RGB colors of an led. Here if i want 500ms delay i want to set my API function vTaskDelay( 500/portTICKRATEMS ) that means vTaskDelay( 500/(1000/100) ) and it is equal to vTaskDelay( 50 ), 500ms would take 50 tick interrupts if my tick frequency is 100Hz, and 1 second = 100ticks. I know the kernel tick rate affects. 5 tick?. But when i used vTaskdelay () inside the task, the application crashes. Its always good in these cases if you can also post what the resolution was - that can be helpful to others with a similar issue in the future. 0. e. Since my task takes approximately 0. Conversion table. Join. vTaskDelay (250) causes a “Hard Fault&…. Above is the setup for ADC, where we will use channel 1. This function will print the list of active timers according to the format: timer name, period of timer and time of the next alarm since boot in microseconds. Espressif ESP32 Official Forum. Functions that cause the task to wait, like vTaskDelay(), put the task in the Blocked state. If you use a task at all, I'd rewrite the task to something along this general line: cast parameter to pointer to uint32 atomic increment open count, and if it was zero { open the door repeat { sleep six seconds } atomic decrement count, and exit loop if it was 1 close the door } exit the taskvTaskDelay cause system halt. However, it is not return. I am developing an application using the MPC5748G and FreeRTOS. After much struggling I found that vTaskSuspendAll (); and xTaskResumeAll (); works but only as long as no delays are used. vTaskDelay . Timestamp of the nearest timer event, in microseconds. I understand, thank you for your. So, Normal communication with that module using ESP32 is UART but to upgrade. First execution ended at 30534 and the second one starts at 30534 too. 6w次，点赞9次，收藏32次。延时Delay就是交出CPU一段时间，如果任务一直不延时或者挂起，那么低优先级的任务会无法获得CPU。FreeRTOS延时的单位是tick，就是调度的基本单位（不是毫秒）vTaskDelay和vTaskDelayUntil都是延时函数，vTaskDelayUntil是精确延时函数原型void vTaskDelay( const TickType_t. Tips, buy me a coffee, or three. 1. There are a thousand microseconds in a millisecond and a million microseconds in a second. -- So I have a big pile of spaghetti here (link to sketch dump). Therefor, I read a lot, especally about xSemaphoreGiveFromISR which seems to be the most efficiant way to deal with this problem. 5 milliseconds. task. What I saw is the before I complete the initialization of this toolkit the vTaskDelay function works. +-1ms is acceptable but not more than that. 0. Whereas vTaskDelay specifies a wake time relative to the time at which the function is called, vTaskDelayUntil specifies the absolute (exact) time at which it wishes to unblock. When you do delay (1000) your Arduino stops on that line for 1 second. 6-3, the Arduino delay() function doesn't do a busy wait anymore. Note that it’s 72-1, because the prescaler will add 1 to any. FreeRTOS does provide run time stack overflow protection, for task stacks at least, but it has to be turned on. println(xPortGetCoreID()); for. Note that this is busy-waiting, so unlike vTaskDelay it does not allow other tasks to run (it just burns CPU cycles. Often it is better to defer the handling of interrupt events to a normal task. In the SDK config I have enabled : 1. Shizen February 21, 2023, 1:53am 5. CM7 parts need an unlock sequence. Return to “ESP-IDF”. 3 posts • Page 1 of 1. Reply. Properly disconnecting from the MQTT Broker is nice, especially with out a Last Will and Testament and properly closing the network connection is an OK thing do. I think you get the idea already, but if you have multiple tasks created, then vTaskDelay() will put the running task into the "Blocked" state for the specified number of tick interrupts (not milliseconds!) and allow the task with the next highest priority to run until it yields. Post by davdav » Thu Nov 22, 2018 10:59 pm . Delay () Delay is an arduino function wrapper that calls vtaskdelay. . Posted by glenenglish on May 26, 2017. For a value of 1 the system waits until the next timer tick occurs. Therefore calling vTaskDelay (1) will block the calling task by 1ms. while (true) { esp_timer_dump(stdout); vTaskDelay(pdMS_TO_TICKS(1000)); } Compiling the Sketch Hi, I have several tasks in freeRTOS on my ESP32 delaying with the vTaskDelay-function. Menu Quick Start Supported MCUs. . Unless the delay is very many microseconds, you wouldn’t be able to shift to another task, and even that would require something to generate an interrupt at the end to force the switch back. The watchdog is "fed" in the IDLE task and while the APP_MAIN task has a higher priority than IDLE it is never interrupted. Whereas vTaskDelay specifies a wake time relative to the time at which the function is called, vTaskDelayUntil specifies the absolute (exact) time at which it wishes to unblock. THE TICK is a new Netflix show. According to the datasheet of the ESP32 S3, the power consumption in deep sleep mode (RTC) is around 7µA. vTaskDelay for 1uS, possible?Posted by willywortel on December 3, 2008First of all, thanks everyone for the response so far. the "1st delay done" message is not printed. Here is an example from a FreeRTOS+TCP driver: ~~~~ /* The task is created and. I would like to toggle an output pin in the order of microseconds so use the function delayMicroseconds. print("Task1 running on core "); Serial. Reply. If you don't want to use vTaskDelay maybe you could make the priority of the IDLE and the MAIN task equal. g. vTaskDelay cause system halt. Posted by davedoors on August 20, 2013. {"payload":{"allShortcutsEnabled":false,"fileTree":{"main":{"items":[{"name":"component. The code below use channel 0. For example, if task execution time is 50ms, then the delay will be 1950msrtel (Richard Barry) June 29, 2020, 1:25am 2. TI and its respective suppliers and providers of content make no representations about the suitability of these materials for any purpose and disclaim all warranties and conditions with regard to these materials, including but not limited to all implied warranties and conditions of merchantability, fitness for a. It also blinks a LED. The actual time that the task remains blocked depends on the tick rate. FreeRTOS is an open source RTOS (real-time operating system) kernel that is integrated into ESP-IDF as a component. I created a project on Z0 core. // Initializing the variable with the time BEFORE the count. vTaskDelay () not giving consistent times. Por ejemplo, digamos que el contador de ticks del sistema vale 50 en el momento de la llamada , y que tú quieres que la tarea se duerma durante 100 ticks. eg. Understanding the vTaskDelay help. The ROM function ets_delay_us () (defined in rom/ets_sys. Microsecond. So, I note that the vTaskDelay in the arduino does a delay of 15ms because of the Watchdog timer, this is the piece of code that says it. This sounds like an XY problem. The source code is compatible with the WinAVR. MorisZ_TIMEOUT_US (t) #include < zephyr/kernel. As you can see from the logs, the time keeps deviating. 125); does exactly what it says. 2. vTaskDelay is basically the same as Arduino delay () But if I remember correctly you have to divide it by the ticks per millisecond See the ESP documentation you can search for. If you call vTaskDelay ( 1 ) then you are on the limit of the resolution and the period you delay for will depend on where in the current time slice the. g. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. The sdk for the chip needed 2msec. One of the first solutions I thought about was to increase the tick rate to 10kHz and use vTaskDelay(1) to create the intervals, while giving the other tasks a chance to run. 1. Returns. To me it looks like it delays the treatment of the GPIO commands like they were pushed into a "queue" and only executed later on. Supports: periodic task execution (with dynamic execution period in milliseconds or microseconds – frequency of execution), number of iterations (limited or infinite number of iterations), execution of tasks in predefined sequence, dynamic change. If you call vTaskDelay () then the task will enter the Blocked state (stop being available as a task that can be actually executing) for whatever period you specify, then automatically leave the Blocked state after that period. Any feedback or ideas would be greatly appreciated. Regards,. vTaskDelay () is a non-blocking delay, it let's other threads to continue working. 执行过程是：程序. Best Regards Caglar Akyuz VTaskDelayUntil and VTaskResume Problem. calling osDelay (1) right before the next system tick occurs the. Tickless microsecond delay before sleepPosted by cajjed on November 23, 2016I am using a samd21g18a and using the Atmel Software Framework with freeRTOS 9. number of microseconds since underlying timer has been started . Sometimes it delays for exactly 2 seconds but sometimes it misses 10ms. number of microseconds since underlying timer has been started . zazas321 Posts: 187 Joined: Mon Feb 01, 2021 9:41 am. I want to read analog signal via adc with sample rate about 48khz so when I read via adc and delay about 20us. The assertion failure you see is vTaskDelay() checking if it was called whilst the scheduler is disabled. A call to vTaskDelay will put your task to sleep (blocked from getting any CPU) for the number of FreeRTOS ticks specified. The task above calculates how long the task took to execute and then performs vTaskDelay including the timestamp_difference. - Tasks running on device but which do not use vTaskDelay: xTaskCreate(uart_task, "uTsk", 3500, NULL, 11, &UART_TaskHandle); -> no vTaskDelay used xTaskCreate(GSM_uartTask, "UauxTsk", 4096, NULL, 11, &GSM_TaskHandle); ->. The only functions that change uxSchedulerSuspended are vTaskSuspendAll () and xTaskResumeAll (). It is based on the RTOS tick rate. For light sleep, that should occur when task is paused. To use scheduler for delay you have to check ready tasks list and (if necessary). Tickless idle support. For example, the serial output when its priority is set to 0 is:. So, does this vTaskDelay have same issue with OSIF_TimeDelay. Why do I need the vTaskDelay() in the TaskTransmit(). One of the most used (and abused) functions in the Arduino world is the notorious delay () This function is as simple to use as harmful and deleterious for our projects because it's blocking and while the microcontroller is busy. As we want the delay of 1 microsecond, the timer frequency must be (1/ (1 us)), i. You could simply verify this by replacing the call to vTaskDelayUntil with vTaskDelay (Yes, I know it’s not the same but a lot of times it is ok…) I think Richard Barry should consider. 9 Microseconds = 9. The delay function seems to be based on system ticks so that the delay time can be used for other tasks. But, toggling a diode every 125 us is already a problem with FreeRTOS kernel running alongside (a lot of jitter, oscilloscope screen shows a mess). Thus, all ESP-IDF applications and many ESP-IDF components are written based on FreeRTOS. In vTaskDelay you say how long after calling vTaskDelay you want to be woken . Timer 0 overflows at the frequency of F_CPU/16384L. Code: Select all 00000000 <delay_using_division>: 0: 004136 entry a1, 32 3: 000081 l32r a8, fffc0004 <delay_using_division+0xfffc0004> 6: a2a280 muluh a10, a2, a8 9: 41a3a0 srli a10, a10, 3 c: 000081 l32r a8, fffc000c <delay_using_division+0xfffc000c> f: 0008e0 callx8 a8 12: f01d. The actual time that the task remains blocked depends on the tick rate. 0. So my configTICKRATEHZ is default -> (TickType_t) 1000) Can i implement in terms of FreeRTOS a delaymicrosecnods function? Freertos makes use of SysTickHandler. Tasks: DelayTasks. 4. Note that this is busy-waiting, so. 1us = SystemCoreClock / 1000000. task only for 1000 or 2000 micro seconds. I. But I can't find the way how to delay microsecond in esp-idf. I don't want to use the vTaskDelay () since it effects also other part of my code. Using Arduino Programming Questions. As to my comment on the system timer not being good for delays with a minimum requirement, the issue is that a vTaskDelay(1) will delay to the next tick, not for a full period of a tick, that says the task will be put back on the ready list anywhere from 0 microseconds (if it make the call just before the timer tick) to a full timer tick period. Whereas vTaskDelay() specifies a wake time relative to the time at which the function is called, xTaskDelayUntil() specifies the absolute (exact) time at which it wishes to unblock. As @atansoft says, vTaskDelay is approx in milliseconds. It’s also one of the worst things. Re: vTaskDelay () vS. vTaskDelayUntil. Arduino’s delay () semaphores are accessed only when available. B. Whereas vTaskDelay specifies a wake time relative to the time at which the function is called, vTaskDelayUntil specifies the absolute (exact) time at which it wishes to unblock. Understanding the vTaskDelay help. Understanding the vTaskDelay help. Overview. But, I need to 500 or 100 us delay function. My Tick Rate is 1024 Hz. And connected pin 36 to a square wave about 10sec low and 5sec high. Delay a task for a given number of ticks. Most of it is functions related to controlling a nextion screen via serial and stepper motors. The other code is very big for posting (I may post if require). Multiple Task SynronisationPosted by tabulous2011 on November 19, 2012What is the best way to achieve this ? Say i have 5 tasks, task 2,3,4,5 should not run until task 1 as completed. vTaskDelay((200L * configTICK_RATE_HZ) / 1000L);. FreeRTOS is a professional grade, small footprint, open source RTOS for microcontrollers. But, toggling a diode every 125 us is already a problem with FreeRTOS kernel running alongside (a lot of jitter, oscilloscope screen shows a mess). How to implement uS delay?Posted by at91kevin on June 1, 2009Hi all, Thanks for Open community. h) will allow you to busy-wait for a correct number of microseconds. At the moment, you seem stuck with an approach where you have to fight the RTOS. The actual time that the task remains. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. sdk_os_delay_us () is better for very precise short delays, you can also surround such a call with vTaskEnterCritical / vTaskExitCritical to disable interrupts. vTaskDelay is a synchronous sleep of the calling task ie. Ive written some test-code to see how the FreeRTOS works. The task may also be waiting for some resource, like a semaphore, to be released by another task. Delay a task for a given number of ticks. This function can be used by periodic tasks to ensure a constant execution frequency. Difference between vTaskDelay and vTaskDelayUntil. This function can be used by periodic tasks to ensure a constant execution frequency. How to delay in nanosecond. 1000Hz is. Such as vTaskDelay(1/portTICKPERIODMS) to get 1 milliseconds. dc42 (David Crocker) June 22, 2020, 10:31am 1. Post by zazas321 » Wed Mar 16, 2022 6:51 am . vTaskDelay is no good for small mS delays. FreeRTOS support forum archive - vTaskDelay for 1uS, possible? The FreeRTOS kernel is now an MIT licensed AWS open source project, and these pages are being updated accordingly. Se estiver utilizando a vTaskDelay, estará evidenciando em seu código a utilização dos recursos do. Hi, I have to drive a stepper motor with my esp32, with a frequency that requires a delay below milliseconds (for example 100 microseconds). Is this approach the best or is there another way?vTaskDelay issue bit me. Interrupts could produce wrong timings, it could be useful to disable them until you finish to process the movement. The prefix micro is derived from the Greek mikrós meaning small and is symbolized as μ. If you select a value < portTICK_PERIOD_MS you may get a zero delay or you may get a delay of portTICK_PERIOD_MS (so 10mS). c file, there is a define named IDLE_TASK_SIZE. Delay a task until a specified time. Delay functions. FreeRTOS delay in microseconds. Whereas vTaskDelay specifies a wake time relative to the time at which the function is called, vTaskDelayUntil specifies the absolute (exact) time at which it wishes to unblock. FreeRTOS Support Archive. Deixe-a para quando estiver programando um Arduino. 1msに設定しなおした場合vTaskDelayでも結構いい線行っ. vTaskDelay(0) vs vTaskDelay(1)Posted by niramas on December 24, 2012I just want to clairify that I understand what vTaskDelay(0) does vs vTaskDelay(1). uint32 microseconds – Number of microseconds to delay: Delay by the specified number of microseconds. However, this crashes my ESP32 every time. gfvalvo February 21, 2023, 1:44am 4. You really helped me out!. Optimizing execution speed is a key element of software performance. especially if nested interrupts is all working as it should…’ that’s how I fire the firing pin at exactly the time it. converted the time into number of ticks as follows: taskDelay ( (int) (dwMicroSeconds/1000000)* sysClkRateGet ()); But In my case, The above will always be zero because i need to delay a. Maybe you could use vTaskDelayUntil () to get you close. When you call vTaskDelay (), your current initSystems () task is put into the blocked state, allowing the operating system to schedule another task. Up to 80 microseconds it is all good and stable, but if I raise the PWM frequency, below 80 µs the readings start to get unstable and unusable, the value starts jumping around and doesn't show a "real" value. Technique #4 – Use RTOS yield function. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. Re: If vTaskDelay is called,will esp32 enters the modem sleep state? Modem sleep should work when radio is not needed regardless of whether task is paused. I would like to understand how does vTaskDelay work exactly. I call vTaskDelay for various reasons. I believe both my timer task and the lwIP network task goes into a foreverloop in vTaskDelay. Furthermore, ESP-IDF. The value was 100. I am starting to presume that the stack size must also include variables declared in the task. Never use Software delays such as these in any Hardware or Software Interrupt. 0 on STM32F4 microcontroller for TFTP server. Get time in microseconds since boot. After a the execution of a function in the toolkit , the vTaskDelay stop to works. How can I do that with freertos or just what are the calculations (for delay). It is not persistent in so much as it runs in the context of the timer task (the time task has its own stack too, but you. The working PWM sketch is here. e 1 MHz. Notice that it is especially unstable around 5V @ 25C, i. 3. The esp32 has WiFi and ESP-NOW active at the same time, receiving some data from another esp32. It seems that sys tick handler blocks all interrupts and in result my timer does not work properly (I need microseconds precision). I have implemented tickless using an external oscillator and my own vPortSuppressTicksAndSleep function (mostly just the version used by ASF and others. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING. check the priority of all task and to be sure task with higher priority not do work for long time! Another problem may in stack size, increase it in heap size and check it again. vTaskDelay () is better for long or imprecise delays, because it lets another task wake up and run while the first task is suspended. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. Understanding the vTaskDelay help. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. This function differs from vTaskDelay () in one important aspect: vTaskDelay () specifies a time at which the task wishes to unblock relative to the time at. The esp32 has WiFi and ESP-NOW active at the same time, receiving some data from another esp32. One microsecond contains 1000 nanoseconds. – brhans. The timebase is the same as for the values returned by esp_timer_get. zazas321 Posts: 187 Joined: Mon Feb 01, 2021 9:41 am. Only broadcasting at certain short intervals is the. 2. start_Manage_STA_Connection () is called in main. Milliseconds based delay is done using systick timer which makes interrupts every 1ms generated by HAL library. Sometime while the task is executing. This guide also includes a comparison of vTaskDelay () function provided by FreeRTOS with. Ideally Task “GetData” gets data from. Here is an example from a FreeRTOS+TCP driver: ~~~~ /* The task is created and. There are a thousand microseconds in a millisecond and a million microseconds in a second. Besides, running a timer every few tens of microseconds leaves nearly no time for the system to do other things. Microcontroller I/O & ADC Benchmarks Microcontrollers. That is NOT a suitable application for something like vTaskDelay. The problem is no to pass control back to FreeRTOS but the handling of the watchdog in the eps-idf framework. CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ. Delay是异步等待，Thread. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING. vTaskDelay () does not work as expected. The delay will be 195 ticks or 199. The code hangs somewhere in here. However, during enumeration some USB hosts require a (small) response every 100uS. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. What I was suggesting was using vTaskDelay to block for the longest time possible less than us, then using esp_timer_get_time to delay for the remaining time. N. Note that it’s 72-1, because the prescaler will add 1 to any. There are loads of other discussion you can find if you search for ‘microseconds’ on these forums if you want even more opinions…but I’ll chip in here with mine. For delays longer than a few thousand microseconds, you should use. 이 함수는 vTaskDelay() 와 다른 중요한 점이 있다. Use a hardware timer, and interrupt. This function will print the list of active timers according to the format: timer name, period of timer and time of the next alarm since boot in microseconds. Yet, something strange happens consistently at 35 minutes, 48 seconds. I’d listen to the guidance from @hs2. I have changed it to 1000. vTaskDelay( 500/(1000/1) ) ? Is that possible vTaskDelay(. Try publishing a constant string each time, rather then creating a new string each time. Next, let's look at an example showing the work and calculations that are involved in converting from microseconds to seconds (μs to s). ) to perform the delay. The parameter in vTaskDelay is the delay period in number of ticks from now I'm totally new to programming and electronics, it would be very helpful if someone helped me figure this out. I have currently implemented a method which uses a counter. If your application requires that you constantly. Forces a task to leave the Blocked state, and enter the Ready state, even if the event the task was in the Blocked state to wait for has not occurred, and any specified timeout has not expired. I would like to toggle an output pin in the order of microseconds so use the function delayMicroseconds. text. Sometimes it delays for exactly 2 seconds but sometimes it misses 10ms. Do task. Not sure. When i put the function in a continuous loop, without delay calls, then it works correctly. I have created a freertos task and I want it to repeat itself precisely every 2 seconds. 5 milliseconds. I need to do a sleep cycle, instead delay, to reduce power consumption, for example: EM2 (or deaper, but em2 is ok) Sleep 5 second. Therefore a.