FreeRTOS常用API vTaskDelay void vTaskDelay( portTickType xTicksToDelay ); 延时任务为已知时间片。任务被锁住剩余的实际时间由时间片率决定。portTICK_RATE_MS常量用来用来从时间片速率（一片周期代表着分辨率）来计算实际时间。vTaskDelay()指定一个任务希望的时间段，这个时间之后（调用vTaskDelay() ）任务. Overview. According to the datasheet of the ESP32 S3, the power consumption in deep sleep mode (RTC) is around 7µA. Note that millis() doses not advance every millisecond. This function can be used by periodic tasks to ensure a constant execution frequency. Assumes a 8 or 16 MHz clock. I’m working on SAM7S64, FreeRTOS port. I wouldn't even try to use a task delay for anything faster than about 100Hz. 2. Understanding the vTaskDelay help. I am trying to use FreeRTOS's vTaskDelay () function in order to periodically execute tasks. And for this reason, the prescaler value is 72. 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). I am following the tutorial and using the example code from (Control the Basic ESC with the Arduino Serial Monitor) but substituted the default servo library for ESP32_Servo library. Using FreeRTOS timers does not work well if your timed action has to run many functions and objects because of the timer queue. Description. Note that it’s 72-1, because the prescaler will add 1 to any. Return to “ESP-IDF”. The closest solution to yours would be to create a semaphore that you attempt to take inside the task with a 100ms delay and that you give from ISR. 1 Seconds = 1000000 Microseconds: 10 Seconds = 10000000 Microseconds: 2500 Seconds = 2500000000 Microseconds: 2 Seconds = 2000000 Microseconds: 20 Seconds = 20000000 Microseconds: 5000 Seconds = 5000000000 Microseconds: 3 Seconds = 3000000 Microseconds: 30 Seconds = 30000000 Microseconds: 10000 Seconds =. How can I do that with freertos or just what are the calculations (for delay). Notice that it is especially unstable around 5V @ 25C, i. This will guarantee very precise timing except when. The final part of section 2 shows how these building blocks and source code modules are used to achieve a context switch on the AVR microcontroller. print("Task1 running on core. Thank you so much, okay i understood something. Previously I used OPEN RTOS SDK and the library whic. Taking over 500 microseconds per read, almost 500 per write. (When i try to make use of SysTickHandler compiler says that is already used. void vTaskDelay( portTickType xTicksToDelay );. Top. The easiest way to track down which task (s) are calling SPI flash functions would be to add an assert (0); at the first line of spi_flash_op_block_func () and spi_flash_disable_interrupts_caches_and_other_cpu (). Hope this helps. Yep, I totally understand that limitation. One is to wait for a period after resetting a chip (BME280). N. h> #include <semphr. I'm also having trouble with this function. For ESP-IDF, you can use this:ducalex commented Jul 11, 2019 •. Read part 1. 我们大家都知道Task. I believe both my timer task and the lwIP network task goes into a foreverloop in vTaskDelay. This page describes the vTaskDelay() FreeRTOS API function. Optimizing execution speed is a key element of software performance. Hi Max, OpenRTOS is outside my expertise, but if you were to implement the above task in FreeRTOS: I would go for the third option: program one of the TC’s (Timer-Clock). The problem is no to pass control back to FreeRTOS but the handling of the watchdog in the eps-idf framework. Try publishing a constant string each time, rather then creating a new string each time. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. , reducing overall power consumption. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. 0 on STM32F4 microcontroller for TFTP server. For delays longer than a few thousand microseconds, you should use delay () instead. 0 and port files SourceportableRVDSARM_CM4F (imported via RTE Keil). THE TICK is a new Netflix show. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. Theory: Calling portYIELD FROM ISR ( pdTRUE ) will result in a context switch being requested. I want to read analog signal via adc with sample rate about 48khz so when I read via adc and delay about 20us. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. 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. Hi, it's me again with more stupid questions. CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ. The pdMS_TO_TICKS () macro can be used for that purpose, for example to create a delay of 100ms. Certain things do go on while the delay () function is controlling the Atmega chip, however, because the delay function does not disable interrupts. 1 seconds which is not what I want. 1 Answer. I managed to get USB HID working under FreeRtos. See the configTICK_RATE_HZ configuration option. I am having issues with time sensitive tasks. 1. - 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); ->. //delay_us (us); // for the 16. For example we can take ot-ble-dmp sample. (When i try to make use of SysTickHandler compiler says that is already used. So, guess I need to build a custom delay rather than using FreeRTOS. void vTaskDelay( const TickType_t xTicksToDelay ); El tiempo que la tarea dormirá comienza a contar a partir del momento en que se hizo la llamada; por ello decimos que el tiempo es relativo . zazas321 Posts: 187 Joined: Mon Feb 01, 2021 9:41 am. 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 demais são totalmente viáveis; isto é, se desejar utilizar delay (), você estará utilizando a vTaskDelay. 文章浏览阅读1. Microsecond. vTaskDelay () does not therefore provide a good method of controlling the frequency of a periodic. You really helped me out!. If another task, like Task D, attempts to enter the critical section, it must first call. The FreeRTOS kernel is now an MIT licensed AWS open source project. If my kernel tick rate is set to 500 Hz does that mean that my 1 millisecond delay will be at. 3 posts • Page 1 of 1. Timestamp of the nearest timer event, in microseconds. Interrupts could produce wrong timings, it could be useful to disable them until you finish to process the movement. It appears that simply using taskENTER_CRITICAL (); and taskEXIT_CRITICAL (); from the FreeRTOS docs does not work because of the way FreeRTOS is modified for ESP32. With FreeRTOS task which runs continuously with a delay (vTaskDelay) 5 second every execution. vTaskDelay((200L * configTICK_RATE_HZ) / 1000L);. The task above calculates how long the task took to execute and then performs vTaskDelay including the timestamp_difference. Therefore a. It is the IDLE task that feeds the Task watchdog. However, I've read that it’s best to avoid such high tick rates, due to the context switching delays. VTaskDelay uses scheduler to make a delay. h, then write a function call vApplicationTickHook () that toggle the pin. The FreeRTOS kernel is now an MIT licensed AWS open source project. many thanks in advanceHello, currently working on a ESP32 Adafruit feather running FreeRTOS in an effort to log accel. +-1ms is acceptable but not more than that. Sorted by: 4. Sometimes it might skip an entire interval or two, if data is lost or there's RF interference at that moment in time. vTaskDelay (250) causes a “Hard Fault&…. The code simply reads an input on the serial port and returns it with some extra text. {"payload":{"allShortcutsEnabled":false,"fileTree":{"util":{"items":[{"name":"DWT_Delay. 5 milliseconds. I am currently learning FreeRTOS and I wanted to integrate as a task the code from the ultrasonic distance measure(HC SR04) example and simply print it into the serial, but at some points it measures wrong. I had an issue with the chip delivering bad calibration data. vTaskDelay(500 / portTICK_RATE_MS); You can use vTaskDelay () even if not using FreeRTOS tasks. after deleting tasks, assign their task handles to NULL and call vTaskDelay ()If you use a software timer then, unlike a task, the timer callback function is ‘run to completion’, in that you start to execute from the top of the function and execute all the way to the end, and exit the function. - 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); ->. 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). Timer 0 overflows at the frequency of F_CPU/16384L. Follow asked Dec 28, 2019 at 11:39. Shizen February 21, 2023, 1:53am 5. If it is false then I wait 60 microseconds and then continue. So in this case I want to make the system to wait for 33 to 37 micro-seconds which is possible through vTaskDelay() if the configTICK_RATE_HZ is set to 1000000. 001 Seconds: 1000000 Microseconds = 1 Seconds: Embed this unit converter in your page or blog, by copying the following HTML code: convertliveRe: vTaskDelay. Parameters. I’ve been trying to use the function in a simple system containing a single task that calls this function in an infinite loop, and it causes permanent suspension of the scheduler via uxSchedulerSuspended in tasks. Using delayMicroseconds in RTOS cause crashed. A microsecond is a unit of time. The smallest delay you can pass to vTaskDelay () is 1 ms. How to implement uS delay? If you set configTICK_RATE_HZ faster than 1000 then the constant portTICK_RATE_MS will be zero and the demo tasks will not run and most likely crash. I was wondering how I can delay for longer periods of time using freertos function vTaskDelay(). 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. To get an actual date however, you'll need to consult your development board and see if it has an RTC. FreeRTOS support forum archive - 100 microseconds interval. Understanding the vTaskDelay help. Regards, Lukas. Connect and share knowledge within a single location that is structured and easy to search. Also note it is better to specify times in milliseconds, rather than ticks, so you can change the tick frequency without effecting the timing (other than the resolution of the time). Because the largest number you can store in a 16bit unsigned integer is 65535, the longest I can delay for is a little under 2 hours. Delay a task for a given number of ticks. Yup^^. It means two things: - delay time can be only a multiple of scheduler tick (usually multiple of 1ms) - other tasks can run when the task is delayed. The actual time delay may be up to one timer tick less than specified, i. vTaskDelay () Doubt. 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 code hangs somewhere in here. The only functions that change uxSchedulerSuspended are vTaskSuspendAll () and xTaskResumeAll (). coretex-m4(STM32F407VG discovery) Questions about implementing vTaskDelay and DelayPosted by jonginkk on January 12, 2018Hello. If. 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. If there is still not enough data then the task re-enters the Blocked state, and xTaskCheckForTimeOut () is used to re-calculate the Block time to ensure the total amount of time spent in the Blocked state does not exceed MAX_TIME_TO_WAIT. You really helped me out!. g. Code: [Select all] [Expand/Collapse] void delay_us (uint64_t number_of_us){. Posted by davedoors on August 20, 2013. Then when the task wakes up it could check the RTC and delay a little longer as needed. A delay of 20 microseconds should not be triggering a watchdog even if blocking. int64_t esp_timer_get_next_alarm (void) Get the timestamp when the next timeout is expected to occur. 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. The. 125); does exactly what it says. To use delay function in your program you should include the "dos. Maybe you could use vTaskDelayUntil () to get you close. 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. number of microseconds since underlying timer has been started . This is the second part of a series of ESP-IDF tutorials that I will complete as I learn stuff. Down at the very bottom you'll see two core task assignments - one for the stepper loop, one for. h. 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. )Jan 3, 2021. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. These are different concepts. For a 16 MHz cpu millis() advances every 1024 microseconds. The only functions that change uxSchedulerSuspended are vTaskSuspendAll() and xTaskResumeAll() . 100 microseconds intervalPosted by maxciu on November 3, 2015Hi, I am a relatively new OpenRTOS user and so far I’m amazed by the possibilities it offer you when dealing with a larger embedded project. 이 함수는 vTaskDelay() 와 다른 중요한 점이 있다. void loop() { vTaskDelay (portMAX_DELAY); //OR vTaskDelete ( NULL ); } As for the watchdog thing, the simplest option would be to try adding a yield () (aka vTaskYield ()) where necessary. no while (true) or for ( ; ; ) loop exists without vTaskDelay () software doesn’t try to access invalid memory e. zazas321 Posts: 187 Joined: Mon Feb 01, 2021 9:41 am. g. ParametersCheck that the timer task isn't in a loop continuously calling vTaskDelay(0). Yet, something strange happens consistently at 35 minutes, 48 seconds. Multiply 0. This should cause a back trace to be printed when either functions are called. Since the frequency of AVR's watchdog oscillator is voltage- and temperature-dependent, it isn't a good idea to use vTaskDelay for precise timing intervals. For microseconds based delay, DWT cycle counter is used to get maximal optimized delay. The main caveat is that the argument has to be a compile-time constant. For your website. I don't really see what I'm doing wrong here. Posted by. See the RTOS Configuration documentation for more information. Example code: void Task1code( void * parameter ){ Serial. delay () is a blocking function. 1) Bug with IDF functions that internally call vTaskSuspendAll () The assert in vTaskDelay () checks to see if the uxSchedulerSuspended of the current core is set. The actual time that the task remains blocked depends on the tick rate. 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. print("Task1 running on core "); Serial. Basically I just want to run a task a given hertz (for example 50 Hz). Connect and share knowledge within a single location that is structured and easy to search. vTaskDelay () Doubt. Use a hardware timer, and interrupt. 6-3, the Arduino delay() function doesn't do a busy wait anymore. Delay in C: delay function is used to suspend execution of a program for a particular time. 0. I call vTaskDelay for various reasons. Stop thinking in microseconds, and think in "clock cycles" or "nanoseconds" instead. As I have observed that vTaskDelay is working on Tick Rate which gives milliseconds delay for application development but I want to prove some microseconds delay in my application. #include <stdio. Understanding the vTaskDelay help. How to implement uS delay?Posted by at91kevin on June 1, 2009Hi all, Thanks for Open community. vTaskDelay () not giving consistent times. The tick for FreeRTOS and millis() happens every 1000000*16384/F_CPU microseconds. For example, if task execution time is 50ms, then the delay will be 1950msrtel (Richard Barry) June 29, 2020, 1:25am 2. The prefix micro is derived from the Greek mikrós meaning small and is symbolized as μ. Furthermore, ESP-IDF. The parameter in vTaskDelay is the delay period in number of ticks from nowI'm totally new to programming and electronics, it would be very helpful if someone helped me figure this out. does not delay for 5 secs. An alternative could be to use a PWM. My Tick Rate is 1024 Hz. Also tried vTaskDelay(pdMS_TO_TICKS( 1000 )) but result is the same. I encountered the following problem when using it: if I use a value such as delay_us(20), it doesn't work! Driving a pin (from high to low and vice. Therefor, I read a lot, especally about xSemaphoreGiveFromISR which seems to be the most efficiant way to deal with this problem. Microsecond delay within taskPosted by pugglewuggle on December 24, 2014Is there any method of doing this with FreeRTOS 8. . One is to wait for a period after resetting a chip (BME280). I guess the system timer runs with a resolution of 1 ms. 1ms = SystemCoreClock / 1000. The counter for millis() advances by two. vTaskDelay() does not therefore provide a good method of controlling the frequency of a periodic task as the path taken through the code, as well as other task and interrupt activity, will effect the frequency at which vTaskDelay() gets called and therefore the time at which the task next executes. willywortel wrote on Thursday, December 04, 2008: Well, actually at 1mS refresh rate (using the delayUntil) gives me a message in windows that the USB device cannot be started (code 10). Note down the value of xTickCount when the breakpoint set in step 3 is hit. 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. 1msに設定しなおした場合vTaskDelayでも結構いい線行っ. "delay_ms%=: nop ; code to replace nop " "delay_100us%=: nop ; code to replace nop " "delay_1us%=: nop ; code. In the SDK config I have enabled : 1. Suggested change -- change "microseconds" to "milliseconds" because vTaskDelay is based on FreeRTOS time tic which is in multiple milliseconds. – brhans. vTaskDelay (5000/portTICK_RATE_MS); // Delay for 5 seconds. 0. But I can't find the way how to delay microsecond in esp-idf. Tsawwassen terminal is a 36 km drive from downtown Vancouver and is located at the southwest end of Highway 17 in Delta. It should work when the scheduler is running, just ensure to set the priority down before you call vTaskStartScheduler (). As we want the delay of 1 microsecond, the timer frequency must be (1/ (1 us)), i. Understanding the vTaskDelay help. Most of it is functions related to controlling a nextion screen via serial and stepper motors. As you can see I measure the time between two instants using esp_timer_get_time() (this funcion returns an uint64_t with the number of microseconds starting from the power up). in most typical application. 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. #include <time. If not other tasks are in the ready state, it will default to running the IDLE task (IDLE0 or. Understanding the vTaskDelay help. This toolkit has a file where user should define sono wrapping function and in embedded system the function to be wrapped are:2) It takes longer to finish than the repeat period, at which point the vTaskDelay Until doesn’t block, but just updates the next execution time an returns. {"payload":{"allShortcutsEnabled":false,"fileTree":{"main":{"items":[{"name":"component. 1 1 1. B. A tick is what you configure it to be. The code works fine, but one thing puzzels me. configTICK_RATE_HZPosted by rtel on November 29, 2013RTOSes. void delay (int number_of_seconds) {. . The ESP32 does not reset now. 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. e 1 MHz. Hi all, I'm a new member. This is a port from esp-open-rtos for espressif official SDK ESP8266_RTOS_SDK. この時間は設定で最低1msまでの調整が可能だった。. For example, if a developer were using FreeRTOS, within their task they could use code like the following: VTaskDelay(1);Describe the issue Since Release 10. 2. 0. A única opção não recomendada é um loop baseado na função millis (). bvernoux changed the title vTaskDelay / portTICK_RATE_MS wrong delay vTaskDelay / portTICK_RATE_MS wrong delay (not an issue) on Oct 19, 2016. ) to perform the delay. I have begun to interest in how FreeRTOS works, and because of I don't have my ESP32 yet, i decided to try it in my arduino micro. Separately, the BT controller is checking that queue every 47. La mejor forma de entender la diferencia es con un gráfico. My idea was to create a freeRTOS task for the stepper motor on core 0, so that core 1 can run. Delay () Delay is an arduino function wrapper that calls vtaskdelay. I am new to FreeRTOS. x that does not require using a hardware timer peripheral and an ISR? I’m thinking similar to the Arduino delayMicroseconds() function. void vTaskFunction ( void * pvParameters ) { /* Block for 500ms. Posted by glenenglish on May 26, 2017. I promise this one is definitely about dual core issues and not my crappy array management. So in that module, we need exact delay of 10 and 40 microseconds of delay interval in some interval to update firmware into that module using one wire communication over GPIO pins. Inside the context switch interrupt the traceTASK SWITCHED OUT () macro will get called before another task is selected to enter the running state – placing. Here is an example from a FreeRTOS+TCP driver: ~~~~ /* The task is created and. */ const TickType_t xDelay = 500 / portTICK_PERIOD_MS; for ( ;; ) { /* Simply toggle the LED every 500ms, blocking between each toggle. int milli_seconds = 1000 * number_of_seconds; clock_t start_time = clock();ESP8266_RTOS_SDK library for DHT11, DHT22 or SI7021. e. What type of context the actual switching in/out of modem sleep uses is another question, probably interrupt + preempt. Posted by aturowski on April 9, 2009. Just tested. davdav Posts: 207 Joined: Thu Nov 17, 2016 2:33 pm. Ive written some test-code to see how the FreeRTOS works. 3. I made several tests, and anytime vTaskDelay is executing, the interrupt is lost, otherwise it work perfectly. 普通延时函数 vTaskDelay. So, Normal communication with that module using ESP32 is UART but to upgrade. g. First of all, set the clock source as internal clock. to create the second task just call xTaskCreate twice, like below:. I have implemented tickless using an external oscillator and my own vPortSuppressTicksAndSleep function (mostly just the version used by ASF and others. Even a. task. When I call vTaskDelay(N), or I call ulTaskNotifyTake(true, N), N is a number of system ticks. B. 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. system (system) December 24, 2014, 2:29pmAt a few microseconds, the overhead of switching tasks is just not worth it, and the added delay of switching you back in means the delay is longer than requested or you need to adjust the delay time. Top. {"payload":{"allShortcutsEnabled":false,"fileTree":{"":{"items":[{"name":"examples","path":"examples","contentType":"directory"},{"name":"include","path":"include. vTaskSuspend(): This function is used to Suspend a task, the suspended remains in the same state util it is resumed. The TIMER_FREQUENCY I want to use is 5000Hz in order to buid a time length of 200 microseconds with a 1-bit resolution and 50% cyclacity (so duty = 1). Next, let's look at an example showing the work and calculations that are involved in converting from microseconds to seconds (μs to s). pataga Posts: 73 Joined: Sat Aug 12, 2017 5:53 am. */ void delayMicroseconds (unsigned int us) { // calling avrlib's delay_us () function with low values (e. By default, the number of cycles to delay is calculated based on the clock configuration entered in PSoC Creator. The examples were written for processors where millis() returns an unsigned long and rolls over after 49 and a bit days,. mk","contentType":"file"},{"name":"lame_test. The vTaskDelay never return when it is call after a blocking operation (e. task only for 1000 or 2000 micro seconds. 0000041666666666667 ms per clock tick. I want it to be 2 seconds regardless of. If I delete the statement. - 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); ->. Basically I just want to run a task a given hertz (for example 50 Hz). Interrupts up to the syscall priority level are masked until the scheduler is started. So, my question is, if I put a vTaskDelay (1) on my code. Only broadcasting at certain short intervals is the. e. The. . This function can be used by periodic tasks to ensure a constant execution frequency. If the clock configuration is changed at runtime, then the function CyDelayFreq is used to indicate the new Bus. 100 microseconds interval. あと、こちらの関数を使う場合、ディレイ時間はTick単位になる。. vTaskDelay is no good for small mS delays. dc42 (David Crocker) June 22, 2020, 10:31am 1. Hi @Esp_dazz, I'm facing same assertion issue. number of microseconds since underlying timer has been started . The tickless mode. 1. Why vTaskDelay() or vTaskDelayUntil() not working as they suppose to work? I'm trying to find in RTOS manual an answer, but without any success. Post by zazas321 » Wed Mar 16, 2022 6:51 am . g. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. 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. 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. Main_Task_2 is working as aspected. 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. 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. Interrupts up to the syscall priority level are masked until the scheduler is started. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. */ void delayMicroseconds (unsigned int us) { // calling avrlib's delay_us () function with low values (e. PS. Edit: The Arduino AVR core sets the timer 0 prescale factor to 64. 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. Understanding the vTaskDelay help. The tick for FreeRTOS and millis() happens every 1000000*16384/F_CPU microseconds. However, this crashes my ESP32 every time. You should configure a timer to trigger the ADC to take a sample and then preferably use the ADC interrupt to fetch the sampled result.