16 microseconds. You should properly disconnect from the MQTT broker and WiFi before deep sleep. SysTick->VAL counts down in a range of SysTick->LOAD and is substracted from the milliseconds->microseconds offset. The pdMS_TO_TICKS () macro is used to convert milliseconds to ticks. The question is, Why are you suspending the task, if it is to run once every 30 seconds, let it use vTaskDelayUntil (or vTaskDelay) to restart itself on schedule. vTaskDelay(500 / portTICK_RATE_MS); You can use vTaskDelay () even if not using FreeRTOS tasks. ESP-IDF timer delay. The code hangs somewhere in here. 2 Core Digital Pin Write Takes About 0. If your application code does not call vTaskSuspendAll() directly, the only other possibility is that some other IDF function that. 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). For my project, I need to create a task that would repeat itself precisely every 2 seconds. ParametersTeams. Just tested. Using Arduino Programming Questions. vTaskDelay () does not therefore provide a good method of controlling the frequency of a periodic. Posted by richardbarry on July 2, 2013. vTaskDelay () from ISR ? Hi Kiran, It is a custom not to create any delay from within an ISR. Declaration: void delay (unsigned int); Here unsigned int is the number of milliseconds (remember 1 second = 1000 milliseconds). // as long as timeout is handled at RX ISR level, this can be called less often. This is the better option when executing multiple tasks, which is usually the case in FreeRTOS. Optimizing execution speed is a key element of software performance. 文章浏览阅读1. Hi, it's me again with more stupid questions. LIS3DH accel hooked up using I2C, SD card hooked up using SPI (Feather hat RTC+SD card). How can I do that with freertos or just what are the calculations (for delay). I tried to increase […]I have found the solution of this issue. However, I've read that. Unless the delay is very many microseconds, you wouldn't be able to shift to another task, and even that would require. I have ensured that this is the only task with priority 1. Idahowalker May 22, 2020, 8:55am 2. 我们大家都知道Task. I want to read analog signal via adc with sample rate about 48khz so when I read via adc and delay about 20us. ) For now, I am simply running an LED toggling program using FreeRTOS with a single task activated. Often it is better to defer the handling of interrupt events to a normal task. Parameters. _delay_us (1. 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 (). N. Notice that it is especially unstable around 5V @ 25C, i. I want to run the PID control source through FreeRTOS scheduling. Re: vTaskDelay. vTaskDelay () does not therefore provide a good method of controlling the frequency of a periodic. This function can be used by periodic tasks to ensure a constant execution frequency. - 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); ->. Problem is, I cannot start them from outside before the time is over. The smallest delay you can pass to vTaskDelay () is 1 ms. My Tick Rate is 1024 Hz. This page lists times between 10−6 seconds (1 microsecond) and 10 −5 seconds (10 microseconds). There are other tasks running in the background but they have priority 2 or higher. Never use Software delays such as these in any Hardware or Software Interrupt. (When i try to make use of SysTickHandler compiler says that is already used. But vTaskDelayUntil () finishes immediately. There are a thousand microseconds in a millisecond and a million microseconds in a second. 5 tick?. You can't use it for precise timing, but it's fine for a task they needs to wake up now and then to do something. That would be very nice. e. Note that it’s 72-1, because the prescaler will add 1 to any. Top. You should use it if you are using arduino, and also you should post in the arduino forum. I’m working on SAM7S64, FreeRTOS port. migmel (Miguel) July 10, 2023, 5:00am 7. If not other tasks are in the ready state, it will default to running the IDLE task (IDLE0 or. Disabling FreeRTOS kernel results in steady 4kHz signal. I have implemented tickless using an external oscillator and my own vPortSuppressTicksAndSleep function (mostly just the version used by ASF and others online). Quality RTOS & Embedded Software About Contact Support FAQ Download. Posted by heinbali01 on November 3, 2015. 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 esp32 has WiFi and ESP-NOW active at the same time, receiving some data from another esp32. Sleep是同步等待，那到底同步等待和异步等待有什么区别呢？. I have disabled all interrupts. However, during enumeration some USB hosts require a (small) response every 100uS. This sounds like an XY problem. 3 posts • Page 1 of 1. Re: vTaskDelay () vS. , reducing overall power consumption. 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. 3 posts • Page 1 of 1. Sometimes it delays for exactly 2 seconds but sometimes it misses 10ms. vTaskDelay is a synchronous sleep of the calling task ie. When using FreeRTOS by itself therefore the limitation is actually one of processing power. 9 Microseconds = 9. Other options might be to use RMT peripheral (if you need to generate waveforms) or to use Timer Group timers, attach the interrupt to CPU1 and make it a level 3 interrupt, and do. If you need multiple tasks to occur at the same time, you simply cannot use delay (). Understanding the vTaskDelay help. The examples were written for processors where millis() returns an unsigned long and rolls over after 49 and a bit days,. The tickless mode. I tried to increase […]vTaskDelay for 1uS, possible?Posted by willywortel on December 3, 2008First of all, thanks everyone for the response so far. You really helped me out!. task handles, and semaphores. The actual time that the task remains blocked depends on the tick rate. If I use vTaskDelayUntil() without xTaskAbortDelay(), the program runs smoothly. MODBUS main task loop: //vTaskDelayUntil (&pxPreviousWakeTime, 10/portTICK_RATE_MS); // Period of 10 milliseconds. That's why the limitation on minimal period is there. A microsecond is equal to 1000 nanoseconds or 1⁄1,000 of a millisecond. 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. Therefor, I read a lot, especally about xSemaphoreGiveFromISR which seems to be the most efficiant way to deal with this problem. Besides, running a timer every few tens of microseconds leaves nearly no time for the system to do other things. The function taskdelay () delays a task in terms of ticks. Post by davdav » Thu Nov 22, 2018 10:59 pm . print("Task1 running on core. Posted by. 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 am having issues with time sensitive tasks. 9 and 1. A hardware timer with a corresponding. Se estiver utilizando a vTaskDelay, estará evidenciando em seu código a utilização dos recursos do. This number will overflow (go back to zero), after approximately 70 minutes. If you need to wait for something, wait on a semaphore/queue that will be. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. I created a project on Z0 core. Check this link for more details. 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. 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. 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_vTaskDelay needs to be set to 1 in FreeRtosConfig. @Perehama and @gfvalvo I am using ESP32. What I saw is the before I complete the initialization of this toolkit the vTaskDelay function works. Actually, we have connected one module over UART with ESP32 chip in our product. 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). vTaskDelay () Doubt. vTaskDelay . According to the datasheet of the ESP32 S3, the power consumption in deep sleep mode (RTC) is around 7µA. The sdk for the chip needed 2msec. Effectively there will be no delay in task. 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. 10 Milliseconds = 10000 Microseconds. Hopefully i have not overlooked. Setting sub millisecond ticks is indeed possible and lots of people do it, but naturally you will experience a greater percentage of your CPU time going to processing interrupts. For example, Tasks A, B, and C wish to enter the critical section in the image above. It is based on the RTOS tick rate. //delay_us (us); // for the. After much struggling I found that vTaskSuspendAll (); and xTaskResumeAll (); works but only as long as no delays are used. After a the execution of a function in the toolkit , the vTaskDelay stop to works. Next, let's look at an example showing the work and calculations that are involved in converting from microseconds to seconds (μs to s). I’ve used the vtaskdelay successfully to get data at 100 to about 400 Hz when things start going bad. vTaskDelay () is better for long or imprecise delays, because it lets another task wake up and run while the first task is suspended. Pauses the program for the amount of time (in microseconds) specified by the parameter. One of the issues you have here is that a vTaskDelay(1) will delay for at least the inverse of the FreeRTOS tick frequency, which by default is 100mS. suzuki four stroke outboard won't start; dead period tssaa 20224. void vTaskDelay( const TickType_t xTicksToDelay );. The prefix micro is derived from the Greek mikrós meaning small and is symbolized as μ. If I delete the statement. There are other tasks running in the background but they have priority 2 or higher. Sorted by: 4. vTaskDelay () is better for long or imprecise delays, because it lets another task wake up and run while the first task is suspended. 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. davdav Posts: 207 Joined: Thu Nov 17, 2016 2:33 pm. It jumps from 8 to 25 even tho I am not moving the object at the distance, it should be like 10-12 but not 25. 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. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. We’ve also found instances where (10 / portTICK_PERIOD_MS) results in a delay of 100mS regardless of the value used! Even vTaskDelay(10. A microsecond is a unit of time in the International System of Units (SI) equal to one millionth (0. Hello, I am trying to provide delay between the RGB colors of an led. 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. Then when the task wakes up it could check the RTC and delay a little longer as needed. For example, if task execution time is 50ms, then the delay will be 1950msrtel (Richard Barry) June 29, 2020, 1:25am 2. I made the function so it toggles a led. My Tick Rate is 1024 Hz. Espressif ESP32 Official Forum. Pleased you solved the problem. The main caveat is that the argument has to be a compile-time constant. An alternative could be to use a PWM. What is the difference between Nano 328p-au and 328p-mu? 2. 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 =. Have just done the test on an ESP32 ESP32 DoIt ESP32 Devkit V1 (80MHz) I/O Speed Tests Over 50000 Iterations. If you’re using. I would like to toggle an output pin in the order of microseconds so use the function delayMicroseconds. Note that millis() doses not advance every millisecond. HAL_Delay is NOT a FreeRTOS function and _osDelay is a function built around FreeRTOS function. Task delays are the wrong method to use for controlling a sampling period at that rate. So I know the stepper_task is not hanging. 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. 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. 0 Kudos. Assumes a 8 or 16 MHz clock. Value returned by. void vTaskDelay( portTickType xTicksToDelay );. To get an actual date however, you'll need to consult your development board and see if it has an RTC. calling osDelay (1) right before the next system tick occurs the. But when i used vTaskdelay () inside the task, the application crashes. vTaskDelay is no good for small mS delays. Tasks in the Blocked state allow other tasks to. i use the following code to initialize the GPIO interrupt: GPIOINT_CallbackRegister (4, my_int. Multiple Task SynronisationPosted by jdurand on November 19, 2012A couple of ways… You could create the new tasks inside task 1 when it’s […]I would not kill the first task when the second starts. 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. 1. Hi i'm new to AVR assembly language so i was trying to get delay function to create 1 ms , 100us, and 1us delays to do that i need to figure out what to replace nop's with below here (mainboard arduino uno r3 ATmega328 Thank you. What I saw is the before I complete the initialization of this toolkit the vTaskDelay function works. Returns. Difference between vTaskDelay and vTaskDelayUntil. After suspending/resuming led blinks with a period of ~20 microseconds. 4. Supón que necesitas que una tarea se ejecute con periodo. Posted by richardbarry on January 26, 2012. 2. Microcontroller I/O & ADC Benchmarks Microcontrollers. 8. Support for power management. This page describes the vTaskDelay() FreeRTOS API function. Delay () Delay is an arduino function wrapper that calls vtaskdelay. 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 which vTaskDelay () is called, whereas vTaskDelayUntil. 2500 Milliseconds = 2500000 Microseconds. 이 함수는 vTaskDelay() 와 다른 중요한 점이 있다. However, during enumeration some USB hosts require a (small) response every 100uS. The timebase is the same as for the values returned by esp_timer_get. Victoria is experiencing low interest rates too. 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. Arduino’s delay () semaphores are accessed only when available. text. I managed to get USB HID working under FreeRtos. At this point, all 3 tasks are inside the critical section and the semaphore’s value is 0. number of microseconds since underlying timer has been started . Ive written some test-code to see how the FreeRTOS works. First of all, set the clock source as internal clock. For a 16 MHz cpu millis() advances every 1024 microseconds. Q&A for work. If you don't want to use vTaskDelay maybe you could make the priority of the IDLE and the MAIN task equal. h) will allow you to busy-wait for a correct number of microseconds. FreeRTOS Support Archive. – Codo. 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. {"payload":{"allShortcutsEnabled":false,"fileTree":{"main":{"items":[{"name":"component. Suggested change -- change "microseconds" to "milliseconds" because vTaskDelay is based on FreeRTOS time tic which is in multiple milliseconds. 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. Wake up. Thank you. This code calls vTaskDelay indirectly as it needs to wait for some milliseconds to allow for device initialization. e. 2. 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. Postby lesyeux » Fri Jun 23, 2023 2:30 pm. 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. Timestamp of the nearest timer event, in microseconds. I'm reading that value into a variable called microSecondsSinceBoot, and the data type is a long, which should be 64 bit, and shouldn't overflow for something like 290 million years. 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. The delay function seems to be based on system ticks so that the delay time can be used for other tasks. 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. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. 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 . Join. Then the task should wait around 1230 ms so the whole iteration could take 2000 ms. Maybe you could use vTaskDelayUntil () to get you close. The task above calculates how long the task took to execute and then performs vTaskDelay including the timestamp_difference. Delay a task until a specified time. As soon as you need to do a few things at the same time, you. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. A call to vTaskDelay will put your task to sleep (blocked from getting any CPU) for the number of FreeRTOS ticks specified. 5ms and it can process one request per interval at most. 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. In the main. Read part 1. Tickless idle support. 3. One is to wait for a period after resetting a chip (BME280). For a full example, refer to PlatformIO ESP-IDF ESP32 blink example. CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ. {"payload":{"allShortcutsEnabled":false,"fileTree":{"":{"items":[{"name":"examples","path":"examples","contentType":"directory"},{"name":"include","path":"include. Its symbol is μs, sometimes simplified to us when Unicode is not available. The problem is no to pass control back to FreeRTOS but the handling of the watchdog in the eps-idf framework. I have analyzed and understood the Scheduling method using Task. number of microseconds since underlying timer has been started . h> // define two tasks for Blink. I don't use vtasksuspendall but it happens time to time (no. ) Jan 3, 2021. To use delay function in your program you should include the "dos. 0. I am new to FreeRTOS. In sleep mode, the ESP32 RTC memory functions, while the ESP32 microcontroller CPU and memory are disabled. pataga Posts: 73 Joined: Sat Aug 12, 2017 5:53 am. My idea was to create a freeRTOS task for the stepper motor on core 0, so that core 1 can run WiFi ESP-NOW, but I have a hard time managing microseconds delay by doing so. ) to perform the delay. This IR functionality needs a delay microseconds function in order to get built. 3. Milliseconds based delay is done using systick timer which makes interrupts every 1ms generated by HAL library. Understanding the vTaskDelay help. Posted by aturowski on April 9, 2009. 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. */ vToggleLED (); vTaskDelay ( xDelay ); } } FreeRTOS is an open source, small footprint RTOS for microcontrollers. This should cause a back trace to be printed when either functions are called. Tasks: DelayTasks. 1199 Microseconds. zazas321 Posts: 187 Joined: Mon Feb 01, 2021 9:41 am. Once the program is launched, you can observe the tasks running in an orderly fashion. How to implement uS delay?Posted by at91kevin on June 1, 2009Hi all, Thanks for Open community. Conversion table. If it is false then I wait 60 microseconds and then continue. 1. start_Manage_STA_Connection () is called in main. g. void vTaskDelay( portTickType xTicksToDelay );. If the function is true I don’t try and sleep. I’ve updated my delay library to support milliseconds and microseconds delays. 0. 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. Board). So set configUSE TICK HOOK to 1 in FreeRTOSConfig. 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). Thanks! freertos; esp32; Share. Delay是异步等待，Thread. This guide also includes a comparison of vTaskDelay () function provided by FreeRTOS with. Posted by davedoors on August 20, 2013. Here is an example from a FreeRTOS+TCP driver: ~~~~ /* The task is created and. especially if nested interrupts is all working as it should…’ that’s how I fire the firing pin at exactly the time it. uint32 microseconds – Number of microseconds to delay: Delay by the specified number of microseconds. Thank you for the replies. Hi @Esp_dazz, I'm facing same assertion issue. One is to wait for a period after resetting a chip (BME280). task. osDelay is part of the CMSIS Library and uses vTaskDelay () internally to introduce delay with the difference that input argument of. Understanding the vTaskDelay help. richard-damon (Richard Damon) June 22, 2020, 10:44am 3. 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. I'm also having trouble with this function. Anyway the timer ISR is always fired correctly. As we want the delay of 1 microsecond, the timer frequency must be (1/ (1 us)), i. 1 or // 2 microseconds) gives delays longer than desired. The pdMS_TO_TICKS () macro can be used for that purpose, for example to create a delay of 100ms. vTaskDelay( 500/(1000/1) ) ? Is that possible vTaskDelay(. This could change in future Arduino releases. I made several tests, and anytime vTaskDelay is executing, the interrupt is lost, otherwise it work perfectly. Multiply 0. 2. Micro denotes a factor of one millionth (10-6) which means that there are 1,000,000 microseconds in a second. 000001 or 10 −6 or 1⁄1,000,000) of a second. 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. Since the output for vTaskDelay and vTaskDelayUntil is same, we should note the key differences between the two. See the RTOS Configuration documentation for more information. 68 ms. A tick is what you configure it to be. h header file, which declares the vTaskDelay function, and any header dependencies it has (which there aren’t many 1, 2) are satisfied. Shizen February 21, 2023, 1:53am 5. 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. 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. 3 posts • Page 1 of 1. Disabling FreeRTOS kernel results in steady 4kHz signal. 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. I understand, thank you for your. If the clock configuration is changed at runtime, then the function CyDelayFreq is used to indicate the new Bus. I was wondering how I can delay for longer periods of time using freertos function vTaskDelay(). vTaskDelay() 는 태스크가 vTaskDelay() 를 호출했을 때부터 지정된 틱만큼의 기간동안 태스크를 지연시킨다. Posted by davedoors on June 6, 2008. We have 10 and 40 microseconds delay requirement for our application development purpose. The macro pdMS_TO_TICKS() can be used to calculate the number of ticks from a time specified in milliseconds with a resolution of one tick period. As soon as you need to do a few things at the same time, you. no while (true) or for ( ; ; ) loop exists without vTaskDelay () software doesn’t try to access invalid memory e. The constant portTICK_RATE_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. ("MICROSECONDS","time in miliseconds=%lli",task_execution_start); // HERE BUNCH OF THINHS HAPPENING SUCH AS TOGGLING RELAYS, PRINTING VARIOUS STATES. The symbol for microsecond is μs. VTaskDelay uses scheduler to make a delay. If your application code does not call vTaskSuspendAll () directly, the only other. Only broadcasting at certain short intervals is the. In vTaskDelay you say how long after calling vTaskDelay you want to be woken . Interrupts up to the syscall priority level are masked until the scheduler is started. KRNL_IN. Post by pataga » Sat Nov 18, 2017 5:41 am . I'm using the esp_timer_get_time() function which gives back the running time in microseconds. where N is the required number of microseconds. 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. Is it possible? or How to increse. 4. The constant portTICK_RATE_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. vTaskDelay(1); –> 1 ms Delay. In the SDK config I have enabled : 1. I encountered the same problem. The assertion failure you see is vTaskDelay() checking if it was called whilst the scheduler is disabled. The pdMS_TO_TICKS () macro can be used for that purpose, for example to create a delay of 100ms. I am trying to measure the duty cycle interval (from falling to rising edge) in microseconds of an incoming PWM signal of 20 KHz. Then we can likely propose a good way of solving your problem. Even in this simple form, it don't work with channel 6. I use the vDelayTask to let an LED blink with 1Hz in order to give feedback to the user that the code is running. FreeRTOS support forum archive - 100 microseconds interval. And connected pin 36 to a square wave about 10sec low and 5sec high. Hi, I have to drive a stepper motor with my esp32, with a frequency that requires a delay below milliseconds (for example 100 microseconds). The.