5nS, +/- interrupts/overhead/etc) or set up a timer to count exact clock cycles, and then convert to your preferred units at the user interface level. Porque vTaskDelay() es relativa: comienza a descontar el tiempo desde el momento en que es llamada, mientras que vTaskDelayUntil() es absoluta: descuenta el tiempo con respecto a un punto de referencia en el pasado. 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. configTICK_RATE_HZPosted by *anonymous on November 29, 2013I’am begginner in RTOS , I’am confused in TICKRATE, what is TickRateHZ, what changes occurr when changing configTICKRATEHZ could you please explain or give any link to understand about the tickRate. I want it to be 2 seconds regardless of. 그래서 태스크가 실행을 시작하고 나서 태스크가 vTaskDelay() 를 호출한 시점 사이는 그 실행 시간을 예측할 수. Q&A for work. Top. all Libs are up to date. Use a hardware timer, and interrupt. i use the following code to initialize the GPIO interrupt: GPIOINT_CallbackRegister (4, my_int. Task watchdog got triggered. A tick is what you configure it to be. Pauses the program for the amount of time (in microseconds) specified by the parameter. We have discovered something interesting, the gpio_set_level command followed by an immediate vTaskDelay does not seem to be effective until vTaskDelay as completed. I am developing an application using the MPC5748G and FreeRTOS. Delays on the order of microseconds almost certainly have to be done with either a hardware timer (and you just monitor the count value) or with a timed sequence of. Yes, this will work on non CM0 (+) parts. N. Removing the call woks fine. ESP32-IDFのFreeRTOSの初期設定では10msが1 Tickになるため、10ms単位での時間指定となる。. Both threads have the same priority. Understanding the vTaskDelay help. You shouldn’t need to add the entire FreeRTOS Kernel source to each library. e. Given that your debounce strategy takes 31 cycles to decide a button is pressed, that means that you need to keep the button pressed for 3. As HS2 have said, dynamically create tasks is not a good aproach. Multiply 0. Re: vTaskDelay. Both of the above threads mention that a delay of 1 ms should be enough, however I tried with 2 ms (vTaskDelay( 2 / portTICK_PERIOD_MS );), 3, 5, 7 ms and none worked ! With 10 ms delay, the issue does not appear AT THE MOMENT. _delay_us (1. – brhans. So, to be safe, both must be equal or one has to be zero. 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. For my project, I need to create a task that would repeat itself precisely every 2 seconds. So, Normal communication with that module using ESP32 is UART but to upgrade. I think you get the idea already, but if you have multiple tasks created, then vTaskDelay() will put the. For delays longer than a few thousand microseconds, you should use. println(xPortGetCoreID()); for. task. So I know the stepper_task is not hanging. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. If you configure a one-shot timer, you will be able to block using a semaphore which is unblocked in a IRQ from the timer. @Perehama and @gfvalvo I am using ESP32. Delay () Delay is an arduino function wrapper that calls vtaskdelay. The ROM function ets_delay_us() (defined in rom/ets_sys. after xQueueGenericReceive()) In details, the TFTP listening task is: void TFTPserverlistening(void pArgs) { // Create a socket // Bind it to the desired port and. 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. This page explains how we measure the real current consumption of the ESP32-S3-DevKitM-1 in deep sleep mode. 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). However, during enumeration some USB hosts require a (small) response every 100uS. I also tried with channel 6 just to see. Passing NULL will suspend. Even a simple loop causes it to crash: ELF file SHA256: 0000000000000000 Backtrace: 0x4008860c:0x3ffbf8f0 0x40088889:0x3ffbf910 0x401300bc. Teams. 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. TIM1 is used as a periodic delay, where an interrupt will be triggered every 2 seconds. After much struggling I found that vTaskSuspendAll (); and xTaskResumeAll (); works but only as long as no delays are used. 1ms = SystemCoreClock / 1000. */ void delayMicroseconds (unsigned int us) { // calling avrlib's delay_us () function with low values (e. It could go from about 800 microseconds to max 1. Assumes a 8 or 16 MHz clock. Serial communication that appears. It is based on the RTOS tick rate. It’s also one of the worst things. At the moment, you seem stuck with an approach where you have to fight the RTOS. Ive written some test-code to see how the FreeRTOS works. 0×10-6 Seconds: 1000 Microseconds = 0. This macro generates a timeout delay that instructs a kernel API to wait up to t microseconds to perform the requested operation. Check this link for more details. vTaskDelayUntil has as advantage to vTaskDelay that the executiontime of the task code does not matter. 普通延时函数 vTaskDelay. The main caveat is that the argument has to be a compile-time constant. Interrupts up to the syscall priority level are masked until the scheduler is started. Hi all, I'm a new member. number of microseconds since underlying timer has been started . Parameters. To avoid the need for uartReadyToSleep function I have implemented a waitToSleepTask: In my case, what I want to do is controlling the heating time of a thermal printer’s strobe. Turned out that vTaskDelay (2/portTICK_PERIOD_MS) wasn't waiting long enough. 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. 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. av4625 May 22, 2020, 9:12am 3. h . The tick rate is configured to default 100hz value. Like updating LEDs, checking a battery level, etc. Get time in microseconds since boot. How to implement uS delay?Posted by at91kevin on June 1, 2009Hi all, Thanks for Open community. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. If you want something faster you would need to use a peripheral timer. vTaskDelay () is supposed to allow a context switch. 2. vTaskDelay for 1uS, possible?Posted by willywortel on December 3, 2008First of all, thanks everyone for the response so far. This is a port from esp-open-rtos for espressif official SDK ESP8266_RTOS_SDK. I have created a freertos task and I want it to repeat itself precisely every 2 seconds. Delay a task until a specified time. I call vTaskDelay for various reasons. 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。. )Jan 3, 2021. Delaying 1 tick may turn out to last only a few microseconds. But when the pin is high and the chip is not sleeping according to current measurement, the vTaskDelay intervals are not constant and are higher than 1 sec. Use a hardware timer, and interrupt. 0000041666666666667 ms by X to get your time delay or you can use pdMS_TO_TICKS ( X ) which will do it for you. Take a look at Using millis() for timing. For a 16 MHz cpu millis() advances every 1024 microseconds. 2. If your application requires that you constantly. 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. void vTaskDelay( portTickType xTicksToDelay );. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. vDelayTasks hangs MPC5748G. For measuring time, there's xTaskGetTickCount, but this will be limited to the resolution of your tick rate. 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. The code simply reads an input on the serial port and returns it with some extra text. 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). My Tick Rate is 1024 Hz. Furthermore, ESP-IDF. The smallest delay you can pass to vTaskDelay () is 1 ms. Se estiver utilizando a vTaskDelay, estará evidenciando em seu código a utilização dos recursos do. Difference between vTaskDelay and vTaskDelayUntil. If not other tasks are in the ready state, it will default to running the IDLE task (IDLE0 or. Tips, buy me a coffee, or three. It is simply not possible to block using FreeRtos APIs for less than one tick (one tick = 10ms by default; can be lowered to 1ms, but not less). This is the better option when executing multiple tasks, which is usually the case in FreeRTOS. 0. Pleased you solved the problem. Digital Pin Read Takes. Interrupts could produce wrong timings, it could be useful to disable them until you finish to process the movement. 3. INCLUDE_xTaskAbortDelay must be defined as 1 for this function to be available. 00001 and 0. Note down the value of xTickCount. The function sendDisplayData () takes about 670 ms to execute and xTaskGetTickCount () confirms it. It should be noted that vTaskDelayUntil() will return immediately (without blocking) if it is used to specify a wake time that is already in the past. Non blocking delay () actions. One of the best things about Arduino is the ability to just block for a period with: delay (1000); // hang on a second, buddy. Every time I newly flash the microcontroller, it seems that the vDelayTask hangs up the microcontroller as the LED. Thanks for your generous help. See the RTOS Configuration documentation for more information. vTaskDelay is no good for small mS delays. Here, the task is waiting for some other event to occur, such as the timer on the vTaskDelay() to expire. 1 post • Page 1 of 1. Espressif ESP32 Official Forum. h . Example code: void Task1code( void * parameter ){ Serial. Stop thinking in microseconds, and think in "clock cycles" or "nanoseconds" instead. Blocking functions prevent a program from doing anything else until that particular task has completed. The problem occurs in the next line, the first vTaskDelay call. Hi @Esp_dazz, I'm facing same assertion issue. I managed to get USB HID working under FreeRtos. 1 1 1. BC OnLine Partnership Office E161, 4000 Seymour Place PO Box 9412, Stn Prov Govt Victoria, BC V8W 9V1void vTaskDelay (const TickType_t xTicksToDelay) ¶ Delay a task for a given number of ticks. I was wondering how I can delay for longer periods of time using freertos function vTaskDelay(). Single-family homes make up a large proportion of the market, but Greater Victoria also has a number of high-end luxury properties. 0. Notice that it is especially unstable around 5V @ 25C, i. If a task changes a higher-priority task to the running state, the higher-priority task will not. 9 Microseconds = 9. c, which is set non-zero in vTaskSuspendAll() and. Basic idea is to get current clock and add the required delay to that clock, till current clock is less than required clock run an empty loop. A delay of 20 microseconds should not be triggering a watchdog even if blocking. 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. My device is a 38 pin ESP32 Wroom-32 (Dev. ) Such as vTaskDelay(1/portTICKPERIODMS) to get 1 milliseconds. The delay will be variable depending on the temperature read from the printer head, and it vary around 1 millisecond. There are a thousand microseconds in a millisecond and a million microseconds in a second. Calling vTaskDelay(0) will basically rerun the scheduler, without suspending the current task. 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. enthusiastsr November 18, 2021, 9:47am 1. 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. The scheduler driven by the SysTick and wakes up the blocked/delayed task(s) after the number of ticks corresponding to the given delay. +-1ms is acceptable but not more than that. You really helped me out!. After a the execution of a function in the toolkit , the vTaskDelay stop to works. h) will allow you to busy-wait for a correct number of microseconds. Top. sdk_os_delay_us () is better for very precise short delays, you can also surround such a call with vTaskEnterCritical / vTaskExitCritical to disable interrupts. This IR functionality needs a delay microseconds function in order to get built. Thank you for the replies. 单片机：HD32L190FCUA 环境：keil5，使用了freertos，且嘀嗒定时器为1ms，即configTICK_RATE_HZ为1000 问题：使用vTaskDelay延迟的话，最少也只能延迟1ms，而有些传感器，通信的期间，只需要us的延迟，该怎么做 解决： 还是使用sysctick嘀嗒vTaskDelay for 1uS, possible?Posted by willywortel on December 3, 2008First of all, thanks everyone for the response so far. Hi, it's me again with more stupid questions. Even in this simple form, it don't work with channel 6. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. 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. uint64_t microseconds = esp_timer_get_time (); // Starting the count, it exits. I included several functions in. For a value of 1 the system waits until the next timer tick occurs. You can use a tick hook function for that. I checked it with oscilloscope. We have 10 and 40 microseconds delay requirement for our application development purpose. c after I initialise the esp as Access. I have ensured that this is the only task with priority 1. The symbol for microsecond is μs. A typical method is to call vTaskNotifyGiveFromISR () to wake-up a task from within an ISR. Let me know if anyone has any idea for that. We will use this interrupt to release a semaphore for DHT11 task to operate. I want the overall time to be 100 micro-seconds. calling osDelay (1) right before the next system tick occurs the. 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). Re: vTaskDelay. First of all, set the clock source as internal clock. 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. Most of it is functions related to controlling a nextion screen via serial and stepper motors. But for USB work (and I’m just getting to the "oh, I see" stage with that) you really have to use interrupts. However, I've read that. You can use vTaskDelay () in a timer callback but we advise not to as all software timers run in the context of the same task, so if you block that task no other timers will run. Understanding the vTaskDelay help. // Sleep for 200 milliseconds. The delay will be 195 ticks or 199. Hardware: Board: Lolin32 Core Installation version: d5fdd71 IDE name: IDF component Flash Frequency: 40Mhz PSRAM enabled: no Upload Speed: 115200 Computer OS: Windows 8. TaskScheduler. The task above calculates how long the task took to execute and then performs vTaskDelay including the timestamp_difference. Why is Serial. The sdk for the chip needed 2msec. I’d listen to the guidance from @hs2. } When this is the only task and the vTaskDelay () is commented, it runs. You can easily find or write a piece of code that delays for 12500 nanoseconds (+/-62. user7446404 user7446404. But for some reason Timer0 is being disabled, and can't use the delay(), millis() and delayMicroseconds(). Top. The. in most typical application. I have created a freertos task and I want it to repeat itself precisely every 2 seconds. 1 seconds before something happens. // as long as timeout is handled at RX ISR level, this can be called less often. Post by zazas321 » Wed Mar 16, 2022 6:51 am . 5000 Milliseconds = 5000000 Microseconds. Here is an example from a FreeRTOS+TCP driver: ~~~~ /* The task is created and. The sdk for the chip needed 2msec. Posted by tomirtos on October 15, 2014. 0000041666666666667 ms per clock tick. I managed to get USB HID working under FreeRtos. I tried using the xSemaphoreGiveFromISR function. 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. 2. Thanks! freertos; esp32; Share. After a the execution of a function in the toolkit , the vTaskDelay stop to works. Tasks: DelayTasks. Maybe you could use vTaskDelayUntil () to get you close. For example, if task execution time is 50ms, then the delay will be 1950msrtel (Richard Barry) June 29, 2020, 1:25am 2. There are 1000 microseconds in one millisecond . I sadly dont have an ESP32 with me at the moment, so I cant check it myself. zazas321 Posts: 186 Joined: Mon Feb 01, 2021 9:41 am. If I am doing the code in a. I have disabled all interrupts. You mentioned one task taking a long period to execute, If that is compute bound time, then you probably don’t want that task higher priority than the others, as it would affect their. 0. This could change in future Arduino releases. 我们大家都知道Task. It also blinks a LED. See the RTOS Configuration documentation for more information. Hardware: Board: Lolin32 Core Installation version: d5fdd71 IDE name: IDF component Flash Frequency: 40Mhz PSRAM enabled: no Upload Speed: 115200 Computer OS:. As demais são totalmente viáveis; isto é, se desejar utilizar delay (), você estará utilizando a vTaskDelay. B. Since my task takes approximately 0. vTaskDelay () does not work as expected. The text was updated successfully, but these errors were encountered: All reactions. Then when the task wakes up it could check the RTC and delay a little longer as needed. 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. 125); does exactly what it says. THE TICK is a new Netflix show. mk","contentType":"file"},{"name":"lame_test. I tried to increase […]I have found the solution of this issue. g. 5 tick?. 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. int64_t esp_timer_get_next_alarm (void) Get the timestamp when the next timeout is expected to occur. If my kernel tick rate is set to 500 Hz does that mean that my 1 millisecond delay will be at. The tick for FreeRTOS and millis() happens every 1000000*16384/F_CPU microseconds. I am new to FreeRTOS. Please take a step back and describe with a broader view what you are trying to achieve. All content and materials on this site are provided "as is". DWT unit is for F4 and F7 only, F0. Not sure. VTaskDelay uses scheduler to make a delay. int64_t esp_timer_get_next_alarm (void) Get the timestamp when the next timeout is expected to occur. Kernel. If you don't put something that blocks the fors(), same priority tasks that you created never get CPU. Above is the setup for ADC, where we will use channel 1. 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. For ESP-IDF, you can use this: vTaskDelay () from ISR ? Hi Kiran, It is a custom not to create any delay from within an ISR. Sorted by: 4. Shizen: I can use vTaskDelay () for days on a task and the ESP32 will handle the timing. The counter for millis() advances by two. Delay a task for a given number of ticks. So, guess I need to build a custom delay rather than using FreeRTOS. the "1st delay done" message is not printed. To avoid the need for uartReadyToSleep function I have implemented a waitToSleepTask:In my case, what I want to do is controlling the heating time of a thermal printer’s strobe. 2. Have anybody a sample Project for PSoC4 and FreeRTOS I am wondering that is no Example availible?!yes, vTaskDelay also uses OSIF, so the root cause is still the same. This page describes the RTOS vTaskDelay() FreeRTOS API function which is part of the RTOS task control API. For your website. With FreeRTOS task which runs continuously with a delay (vTaskDelay) 5 second every execution. vTaskDelay is no good for small mS delays. Best Regards Caglar Akyuz VTaskDelayUntil and VTaskResume Problem. The pdMS_TO_TICKS () macro can be used for that purpose, for example to create a delay of 100ms. 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. Neat. h header file, which declares the vTaskDelay function, and any header dependencies it has (which there aren’t many 1, 2) are satisfied. Down at the very bottom you'll see two core task assignments - one for the stepper loop, one for. I have implemented tickless using an external oscillator and my own vPortSuppressTicksAndSleep function (mostly just the version used by ASF and others. task only for 1000 or 2000 micro seconds. 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. 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. 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. 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. PayPal Venmo Up vote any posts that you find helpful, it shows what's working. 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. The code: #include <Arduino_FreeRTOS. This is the second part of a series of ESP-IDF tutorials that I will complete as I learn stuff. 8. 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。. C. Delay a task for a given number of ticks. 一般情况下，需要延时一定时间，就调用此函数，将需要的延时时间转换为对应系统节拍数传递（如宏pdMS_TO_TICKS（））， 之后，当前任务会从就绪链表移除， 加入到延时链表中，系统会在节拍中断中检查是否到达延时时. Posted by davedoors on August 20, 2013. Problem is, I cannot start them from outside before the time is over. The delay will be variable depending on the temperature read from the printer head, and it vary around 1 millisecond. 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. I am having issues with time sensitive tasks. I set the FreeRTOS tick rate to 250 in 'make. ESP32-IDFのFreeRTOSの初期設定では10msが1 Tickになるため、10ms単位での時間指定となる。. This is vTaskDelay ( pdMS_TO_TICKS ( 10 ) ) a delay of 10mSec, this vTaskDelay ( 10 ) is a delay of 10 clock ticks. Maybe because you can't generate delays or if there is a similar command what is it. osDelay is part of the CMSIS Library and uses vTaskDelay () internally to introduce delay with the difference that input argument of. vTaskDelay for 1uS, possible?Posted by willywortel on December 3, 2008First of all, thanks everyone for the response so far. vTaskDelay () is better for long or imprecise delays, because it lets another task wake up and run while the first task is suspended. {"payload":{"allShortcutsEnabled":false,"fileTree":{"util":{"items":[{"name":"DWT_Delay. Let me know if anyone has any idea for that. Microsecond to Second Conversion Example Task: Convert 1,500,000 microseconds to seconds (show work) Formula: microseconds ÷ 1,000,000 = seconds Calculations: 1,500,000 microseconds ÷. You can also use the. Delays on the order of microseconds almost certainly have to be done with either a hardware timer (and you just monitor the count value) or with a timed sequence of instructions (like NOPs. 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. Difference between vTaskDelay and vTaskDelayUntil. Besides, running a timer every few tens of microseconds leaves nearly no time for the system to do other things. Next, let's look at an example showing the work and calculations that are involved in converting from microseconds to seconds (μs to s). 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 code calls vTaskDelay indirectly as it needs to wait for some milliseconds to allow for device initialization. e. My idea was to create a freeRTOS task for the stepper motor on core 0, so that core 1 can run. One microsecond contains 1000 nanoseconds. See the RTOS Configuration documentation for more information. – Codo. ESP_Angus wrote:The RTOS tick period is (by default) 1ms, so vTaskDelay() will round this down to 0 ticks, and you'll either get no delay or a full time slice (1ms) delay while another task runs. I edited the example code and removed all I think it is not necessary. The High Resolution Timer (ESP Timer) provided by FreeRTOS uses a 64 bit hardware timer. Hello, I came across the same problem as davdav: I am using a lot of things that are accessed by spi: WiFi uses nvs, application reads nvs every second, esp_vfs_fat_spiflash_mount() at application startup, linenoiseHistorySave() for console and fopen(), fprintf() occasionally. This is obvious as I need board to be initialized before creating tasks. 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. Hi @Esp_dazz, I'm facing same assertion issue. Since the output for vTaskDelay and vTaskDelayUntil is same, we should note the key differences between the two. 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. The pdMS_TO_TICKS () macro can be used for that purpose, for example to create a delay of 100ms. Welcome to the forums @Ketaki04!This question is a good one and comes up time and time again. where N is the required number of microseconds. A microsecond is equal to 1000 nanoseconds or 1⁄1,000 of a millisecond. Hopefully i have not overlooked. This causes serious random issues with my tick count (For example, vTaskDelay of a second will take microseconds). Posted by. These are different concepts. rokmarko mentioned this issue on Nov 8, 2021. We’ve also found instances where (10 / portTICK_PERIOD_MS) results in a delay of 100mS regardless of the value used! Even vTaskDelay(10. 执行过程是：程序. However, it is not return. (acc @Clifford: ) They both are entirely different functions by different developers for different purposes. delayMicroseconds() works in arduino. does not delay for 5 secs. There are a thousand microseconds in a millisecond and a million microseconds in a second. #include <stdio. Calling vTaskDelay(0) is equivalent to calling taskYIELD(). The code runs very fast until it casues a stack overflow and resets the esp. 이 함수는 vTaskDelay() 와 다른 중요한 점이 있다. I would like to know if the da14531 mod compiled with eclipse or with keil5 there is a method to generate small delays Es Delay(10); or vtaskdelay(10).