ESP-IDF supports multiple types of watchdogs: Interrupt Watchdog Timer (IWDT) Task Watchdog Timer (TWDT) The Interrupt Watchdog is responsible for ensuring that ISRs (Interrupt Service Routines) are not blocked for a prolonged period of time. It’s scheduled to run on a delay of 50 milliseconds. vTaskDelay is a non-blocking delay. Task. My device uses wifi, ble feature. getfreeheap (something similar to this in the Arduino core). Hi, I have several tasks in freeRTOS on my ESP32 delaying with the vTaskDelay-function. Tasks Management such as Task priority setting, task suspension, task deletion, and Task delay; Tasks Synchronization with Gatekeeper Tasks, Semaphore, and Mutex; Timing measurement hook; Run time Tracing hooks;. The fourth argument is the parameter. However, the output shaft is driven via a 64:1 gear ratio. In my test applications that don't use any sockets, this task literally only calls std::this_thread::yield () over and over. You can't use it with board that have an ESP32 microcontroller. This tutorial instructs you another method to blink LED without blocking other tasks. Click on the Preferences menu item. It determines what process to run next based on priority. 59 *C P=73. 以下の動画を. The 28BYJ-48 Stepper Motor has a stride angle of 5. Read part 1. Delay is an arduino function wrapper that calls vtaskdelay. Why would running loop() {} add a 2mS delay in running the analogRead task? That's when freeRTOS is doing clean up tasks. (Note: don't forget to call this function, or it will lead to the watchdog restarting the ESP32). The ESP32 does not reset now. Even if you delay in your own task for a sub millisecond period, it is absolutely possible for your task to have control taken away from it (in this example) for up to 5ms at a time. A task may only be returned to the Ready state by an explicit call to vTaskResume() by another task. 05s and I want. The following tasks did not reset the watchdog in time: E (21412) task_wdt: - IDLE0 (CPU 0) E (21412) task_wdt: Tasks currently running: E (21412) task_wdt: CPU 0: wifi E (21412) task_wdt: CPU 1: IDLE1 E (21412) task_wdt: Aborting. Hi, My understanding is (I am new to this myself) that LOOP in your sketch is running as a task, when you issue the command "xTaskCreate" this then creates a. The files needed to utilize the Task Scheduler Library in your code are listed below and available in the code link at the end of this project: Task. I started to study FreeRTOS book. h" #include "freertos/event_groups. Without having delay/vTaskDelay/etc the task scheduler never runs and the idle task for the core (scheduler) will not reset the WDT for it's task and that will trigger the WDT. The ESP32 chip has 3 UART controllers (also referred to as port), each featuring an identical set of registers to simplify programming and for more flexibility. After calling it, FreeRTOS knows that the task is finished and should not be rescheduled. INCLUDE_vTaskDelay must be defined as 1 for this function to be available. Re: FreeRTOS Task notification crashing esp32. Board ESP32-WROVER-E Device Description DevKitC V4 Hardware Configuration pin_sclk = 18; pin_mosi = 23; pin_miso = 19; pin_dc = 21; Version v2. First of all, the timer should be initialized by calling the function timer_init() and passing a structure. For that, you can use the following function: esp_sleep_get_ext1_wakeup_status() This function returns a number of base 2, with the GPIO number as an exponent: 2^ (GPIO). 1. You need to make sure it's already there. It should be much faster. It simply prints the string to the UART. 15s to 0. こんばんは。. 1 Demo - In this demo, we create 2 tasks: low priority task and high priority task. When the Global variable is set by the BLE task (Task2) the Timer_turn on task (Task3 has to run). While RAM often ends up scarce on an. Hi everyone. In the. In the past I've played around a little with Rust and long before I put together a few little projects with ESP32 controllers using the Arduino libraries. Now I believe timer interrupt will be a better option as we will not need. 625º = 64 steps in half-step mode. . I'm testing esp32 devices from esp-idf v4. The tick rate you set using configTICK RATE HZ sets the resolution of time you can use with FreeRTOS API functions. The delay has to be configurable to sub microsecond resolution. vTaskList (): This function is used to read the task details (name, state, priority, num). See the RTOS Configuration documentation for more information. This means that the highest priority task that can run on a CPU will *always* be the task which runs on that CPU. The problem showed up with the release of ESP32 core v2. h" #include "esp_attr. I have testet this in two different wifi environments/networks using wireshark (see below) The graph shows time between consecutive UDP packets (with encapsulated RTP packets). The problem is no to pass control back to FreeRTOS but the handling of the watchdog in the eps-idf framework. So far I've managed. Arduino IDE supports FreeRTOS for ESP32 and FreeRTOS APIs allow us to create tasks that can run independently on both the cores. It may shed some light on the reason why Task1 is stopped. I have testet this in two different wifi environments/networks using wireshark (see below) The graph shows time between consecutive UDP packets (with encapsulated RTP packets). To do that, make the connections on a breadboard as shown in the below circuit diagram. See debug below for what it looks like when it fails. I want to try the inits in a loop, with a short delay between attempts, and I want the watchdog to reset the ESP after say 5 seconds. Most modern processors have. create_task it may be cancelled. The desired T OUT for the interrupt period in which we’ll. The loop () in the above code doesn't use a delay, and has no output either. Two, we can run other tasks while the scan task is. 0. Sometimes it delays for exactly 2 seconds but sometimes it misses 10ms. This function will return timer structure if configuration is successful. ArduinoIDE. c file, there is a define named IDLE_TASK_SIZE. It Seems that when use Task1 on Core 0 That First line gets thrown to the end. 14 — QFN6*6 1. At the time of writing, the. For this, we’ll use the timer’s equation above, Given that the default APB_CLK is 80MHz or 80,000,000Hz. These tasks are waiting for the key and the low priority task has chance to hold the key then it will block the high priority task and continue executing. all I need is a delay of a task, with the. Solution. The first argument is the name of the function. continuous loop). GMT +8 = 28800. Connect to Bluetooth Client (my phone) 3. the stepper_task never receives another message from the queue. Arduino typically shows a 1ms. Lucianovici commented on Feb 22, 2019. Each interrupt has a fixed priority, most (but not all) interrupts are connected to the interrupt matrix. CMake is an open-source, cross-platform family of tools designed to build, test and package software. ” It takes in the first parameters an integer (uint32) which is the constant TickType depicting the ticks to delay. For a full example, refer to PlatformIO ESP-IDF ESP32 blink example. 0/v1. This function is used to configure the timer. So, I just put a microsecond loop in like this: unsigned long thedelay; thedelay = micros() + 100; while (micros() < thedelay) {}esp_task_wdt_feed() in the task loop - it didn't help esp_task_wdt_reset() in the task loop - it didn't help esp_task_wdt_deinit() before create the task - it didn't help esp_task_wdt_delete(th) after create the task - it didn't help The only thing that helped to stop WDT is delay(1) instruction, but delay for 1 ms is too much for my purpose . In my opinion you should just disable the task watchdog. vTaskDelay (ledMode / portTICK_PERIOD_MS) when I call esp_err_t err = nvs_flash_init (); the result is this: Code: Select all. unless delay actually calls vTaskDelay on esp32, which it does. The nature of the tasksHello, My question is about implementing the functionality of HALDelay(), which is implemented based on the SysTick timer tick count. The detail instruction, code, wiring diagram, video tutorial, line-by-line code explanation are provided to help you quickly get started with ESP32. 5. I want to try the inits in a loop, with a short delay between attempts, and I want the watchdog to reset the ESP after say 5 seconds. So, it means that the task will be blocked during the delay time [5] and the scheduler can attribute the CPU to other free task. According to the features used by an application, there are some sub sleep modes. xTicksToDelay: The amount of time, in tick periods, that the calling task should block. As mentioned before, we will use the xTaskCreatePinnedToCore function. @Whandall perhaps you can help out making this ESP32 task example more indicative of what ESP32 can do. tool-dfuutil-arduinoIn the previous tutorial, we learned to blink LED by using the delay method. Jan 3, 2021. We have named our project ‘ESP32_TIMER_INTERRUPT. This is a single task using the serial port. You can use a semaphore. delayをtask定義の前に入れるか、削除で解決 タスク定義はできるだけ最後にした方がいいのかな。 マルチタスクの弊害が出てしまった。 今回でだいぶesp32のことを知れた。 おもしれぇやつだな、おめぇ. These tasks are waiting for the key and the low priority task has chance to hold the key then it will block the high priority task and continue executing. Click on the File menu on the top menu bar. // ESP32 example. The Print stream is configured to the UART0 of the ESP32. I chose the ESP32 because of its 240MHz clock, but it still seems to be having trouble. void loop() { delay(1000); } The task functions. Espressif IoT Development Framework. If you put the ESP32 module to deep sleep, as per post#5, then WiFi is off. Through debug prints I am sure the task handler passed to the function is neither NULL nor the current task's handler. My device uses wifi, ble feature. Below is a quick reference for ESP32 -based boards. Go to Firebase and sign in using a Google Account. The microcontroller will execute the higher priority interrupt first. I try to understand the concept of the dual core operation, but my solutions keep crashing. The following are confirmed to be working: All lighting and lighting telegram messages. queue_size – UART event queue size/depth. To develop applications for ESP32, we have the option to use either the Arduino framework or the ESP-IDF framework. A delay of 0 causes any pending tasks to be scheduled in round-robin fashion before the following line is run. printf/log_i manages to lockup the board. Hi there! I'm currently trying to get started with Rust on ESP32 controllers. The function below is a task handler, I am trying to init subsystems (SPIFFS, Wire. Two reasons why this is helpful. vTaskResume (): This function is used to resume a suspended task. 5. (there is no problem of core). 例えばあるタスクが走ってて、そのタスクを終了検知したい場合にそのtaskHandleがNULLになってれば終了とみなすフラグに出来ると思ったが、vTaskDelete自体はtaskHandleの値を変更しないので、一度taskHandleが設定されると自前で消しに行かないといけないし、taskの. Check out this question in the esp32 forum. Type ESP-IDF: New Project in the search bar and press enter. Please lend me a little more. 5 seconds. Espressif ESP32 Official Forum. bad form to program with delay() of any significant duration. as well as by blocking task in loop(), using delay() function as an example. , the total number of tasks required by "uxTaskGetNumberOfTasks ()" is a large number such as 18. Delay. It is based on the RTOS. here is a task using the ESP32's millis cycle counter and the freeRTOS tick counter. Deixe-a para quando estiver programando um Arduino. ” The third argument specifies the stack size of the task. @Power_Broker I understand this basic kind of delay and how millis function run inside the delay function. Rehan11 September 25, 2021, 3:24am 1. Reload to refresh your session. The first advantage we will discuss is accurate timing. e not giving a delay so that Task Scheduler can run, then it may trigger the watchdog timer. So your clock processor clock should be > 1 MHZ. For one of my project, I need to implement one ESP32 as a Modbus master and another one as a Modbus slave. Same thing, right after baud rate is set in void setup: rtc_wdt_protect_off (); rtc_wdt_disable (); This time, the GUI functions just like before (as if the watchdog timer/interrupt is not actually disabled). I would like to break this second loop when the stop button is pressed. I also tried putting those two functions (or whatever they are called after. In the task print the task sized using something like this, log_i ( "fDoTheHumidityThing high watermark %d", uxTaskGetStackHighWaterMark ( NULL ) );. This number corresponds to the tick which is the frequency of the chip. Specify the project name and directory. How to delay microseconds on ESP32 under a Free RTOS task PlatformIO Core andyfraser September 8, 2022, 10:24am 1 I have some code running as a. cpp 📋 Copy to clipboard ⇓ Download. Delay is an arduino function wrapper that calls vtaskdelay. Every 1ms a timer interrupt fires and the scheduler jumps in and looks for the highest priority task that is able run. For context I have set up a esp32 Json websocket server running on core 1 in the Loop (); function and I created a task with the. 60. Be aware that dependent on what you. -- So I have a big pile of spaghetti here (link to sketch dump). lib_deps = feilipu/FreeRTOS @ 10. Best practice task watchdog timer implementation: ESP32 & SIM800. Task 2 will run on core 1, receiving data from first task and send it async over TCP. Delay a task until a specified time. Follow the next instructions to create a new project on Firebase. Using Arduino Programming Questions. Description. We need to pass a string pointer (buffer) to which it copies the above task details. の続きで、ESP32DevKitCとArduinoIDEを使って、ESP32でマルチコア・マルチスレッドを使っていきます。. After a few attempts, I did not succeed in realizing this because each task requires a delay (x) with x >= 1ms for the FreeRTOS system. For example, specifying a. see RTOS - vTaskSetTimeOutState(). 1. To open the project in a new window, click ‘Yes. I'm basicly testing the sending data from the ESP32 to Firebase. Timer callbacks can be dispatched by two methods: ESP_TIMER_TASK. 8V/3. The other task manages the I2C sensor DHT22; it essentially init the sensor and query it in a infinite loop and print the. ESP32 is a series of low cost, low power system on a chip microcontrollers with integrated Wi-Fi and dual-mode Bluetooth. 2. I also tried putting those two functions (or whatever they are called after. FreeRTOS Timer Task (Tmr Svc) FreeRTOS will create the Timer Service/Daemon Task if any FreeRTOS Timer APIs are called by the application. I want it to be 2 seconds regardless of how long the task took to execute. ESP32 LED Blinking Project Overview. この部分もESP-IDF側のAPIに切り替えるため、vTaskDelay ()関数を使ったのだが. Also run each test at least twice, to detect nondeterministic/random effects. This function can be used by periodic tasks to ensure a constant execution frequency. Here is the source to show superfast interaction: External interrupt detected by task Core1 --300ns--> RTOS_2 (core 0) reacts. This takes some work and code re-organization. that delay() should not be necessary , the xTaskNotifyTake() will suspend this task, I would set your priorities to be dissimilar 2,3,4, you might want to read about how the ESP32 implementation of the Scheduler can skip tasks with equivalent priorities round-robin-scheduling. Using Telegram they can control some lighting as well as receive some notifications to events. restart () every 12 hours before it can freeze. To multitask, it is interesting to use all the resources of the microprocessor. This is bad practice and can cause your ESP32 to enter Kernel panic and force restart. print ("Starting to create task on core "); Serial. Task1 runnning on core 0 collects data from various GPIO (ADC, Digital and PWM) and generate 2 char arrays that i need to send to the queue. Cheers. be connected on a same SPI bus (sharing a single ESP32 SPI peripheral). If you use portMAX_DELAY for timeout then it's an indefinite block and a task blocking for this time actually becomes. This is the better option when executing multiple tasks, which is usually the case in FreeRTOS. The detail instruction, code, wiring diagram, video tutorial, line-by-line code explanation are provided to help you quickly get started with ESP32. After that you get a cylcetime of ~300ns (disable interrupts for core 0). Go here: Top → Component config → ESP32-specific. h> #include <freertos/task. These. Also test unpinned Task2. I'm seeing errors like this: E (17121869) task_wdt: Task watchdog got triggered. The payload can be a buffer which the original task allocated at disposal of the transmitter. Internally, esp_timer uses a 52-bit hardware timer. That should be sufficient. Does SdFat make use of resources that might be affected by SPI interrupts running on a different core? The sd. The objective of this post is to provide an introduction to FreeRTOS counting semaphores, using the ESP32 and the Arduino support. 2. The buffer size should be minimum. If I change CircuitPython to use CONFIG_FREERTOS_HZ=1000, the 10ms delay also. The aim is the do high speed analog reads and blink the led But the problem I have with ESP32 is that if I use vTaskDelay(1); the maximum read speed is ~1mS On the otherhand if I use yield() the led does not blink. It's still unclear which "Event" could make a blocked task Ready. The following tasks did not reset the watchdog in time: E (17121869) task_wdt: - IDLE0 (CPU 0) E (17121869) task_wdt: Tasks currently running: E. This will open a Preferences dialog box. Their task handle is saved in a shared data structure, which access controlled by a mutex semaphore. The exact hardware timer implementation used will depend on the target, where LAC timer is used for ESP32. It does not interact with RTOS and calling it will actually block everything for 100ms, if it is called from higest-priority task. -- So I have a big pile of spaghetti here (link to sketch dump). All other side functions should run non-time critical in the other core. After invoking the idle hooks, the idle task puts the CPU into "wait for interrupt state" ("waiti", similar to "wfi" in ARM CPUs). Now click ‘ Create project using template esp_timer . Serial communication that appears. Task B and C has the same periodicity but C has higher priority. create_task method returns the Task instance which may be saved for status checking or cancellation. Chip ESP32 chứa hai nhóm Timer. Main Task (main) Task that simply calls app_main. delay( 0 ); do not reset WDT timer. When it returns the software that supports your ESP32 application gets to do important housekeeping tasks, and reset the watchdog timer. The only functions that change uxSchedulerSuspended are vTaskSuspendAll () and xTaskResumeAll (). println (taskCore); Now we will launch the FreeRTOS task, assigning it to a specific core of the ESP32. At the moment ESP32 plugged to serial monitor about 23hours ticking, the millis() was working fine. I dont have any problem to use delay function, I want to use delay while doing some other subroutine or task while delay is called and while reading yield function, i think of it as something that can run any subroutine or task while delay is in progress. slowly charged capacitor, or an external, One-Shot delay timer like a NE555. N. The esp32 is placed close to the AP. Application startup covers everything that happens after the app starts executing and before the app_main function starts running inside the main task. Timer callbacks can be dispatched by two methods: Arduino ESP32 is built over FreeRTOS and actually the main program is put in a loopTask . The next parameter 2048 is the memory allocated to the task in word (2 Bytes). More precisely the ip5306 version that has been discontinued. Re: ESP32 CPU load % display without special configuration. の続きで、ESP32DevKitCとArduinoIDEを使って、ESP32でマルチコア・マルチスレッドを使っていきます。. ArduinoIDE. It used to obtain handle or while debugging the task. The function below is a task handler, I am trying to init subsystems (SPIFFS, Wire. 2. @1technophile what i meant by any rtos task which runs without a delay,loop is actually a rtos task which is implemented in esp32 arduino so by just putting it into a loop can solve your problem. Supervision: Shows how to activate the task supervision in order to restart the CPU when a task takes too much time; SupervisionWithCallback: Shows how to activate the task supervision and get a callback when a task takes too much time; SerialWithDeepSleepDelay: Shows how to use SLEEP_DELAY to allow serial write to finish before entering sleep If more than one task blocks on a queue, the highest priority task will be the one to unblock first when the operation can be completed [1]. Yes. I want to run FreeRTOS on ESP32. ’. 1. The maximum time to wait in the Blocked state for a notification to be received if a notification is not already pending when xTaskNotifyWait () is called. ESP32 SoC has two processor cores (three in fact, if you also count the ULP core). If you see my requestTemp task is always running accessing on every loop the TCA9548A I2C device, at the same time my interrupt task could get an event from my TCA6416 I/O and then will also communicate to my TCA9548A I2C device in order to get the bytes and see which button was pressed. (esp_task_wdt_add (NULL); esp_task_wdt_reset ();) instead of delay (x. 例えばあるタスクが走ってて、そのタスクを終了検知したい場合にそのtaskHandleがNULLになってれば終了とみなすフラグに出来ると思ったが、vTaskDelete自体はtaskHandleの値を変更しないので、一度taskHandleが設定されると自前で消しに行かないといけないし、taskの. This guide also includes a comparison of vTaskDelay () function provided by FreeRTOS with. Even a simple loop causes it to crash: ELF file SHA256: 0000000000000000 Backtrace: 0x4008860c:0x3ffbf8f0 0x40088889:0x3ffbf910 0x401300bc. Internally, esp_timer uses a 64-bit hardware timer. pos;i++)Exact delays. Timer – bộ đếm thời gian, được sử dụng để đo và kiểm soát thời gian. The RTOS task does not consume any CPU time when it is in the Blocked state. This callback function is called from the esp_timer task each time the timer elapses. You signed out in another tab or window. #include. h" #include. When I use the delay() function with a length as low as 1 and as long as 250, delay() never returns. These push buttons specifies the PWM value of motors and some constants. timeClient. Note that by default the tick period is 10ms, so any delay of less than 10ms results in a 0 delay, which can starve lower priority tasks of CPU time which then may fail to reset their watchdogs in time. This must not be confused with a human time scale of tens or hundreds of milliseconds or indeed, a couple. This is useful so that your code doesn't block the Device from interfacing with the Blynk Server. However, my sketches use WiFi, which starts a couple of tasks, each outputting via log_X. And, I am trying to create a webserver with 3 submit push buttons. Postby idahowalker » Thu Mar 28, 2019 9:49 pm. Down at the very bottom you'll see two core task. I dont get any delay even if I add some different delays. For example, we have two tasks: Demo_Task and Demo_Task2. 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. Hello, I'm trying to send a simple message every 70ms from an ESP32 device configured in softAP mode to move. Delay a task until a specified time. If you REALLY need a delay, use ::delay(), but this will block the task and the scheduler. See the RTOS Configuration documentation for more information. In our case, we have set it to Demo_Task. Requests CPU frequency to be at the maximum value set with esp_pm_configure(). In Arduino, you can find this ‘blink without delay’ example:. Delay function not working with ESP32. SlimeVR-Rust/firmware - Async & no_std rust firmware for SlimeVR Full Body Tracking. This is the core functionality of a kernel. It's a bit different from a real Arduino where there's nothing else going on. Learn more about Teams #include "freertos/FreeRTOS. the "1st delay done" message is not printed. However, improving execution speed may have trade-offs with other aspects of performance such as Minimizing Binary Size. abort() was called at PC 0x400d9a7f on core 0 Backtrace: 0x4008c7e0:0x3ffbe160 0x4008ca11:0x3ffbe180. This indicates the amount of memory we want to reserve for the particular task. Chuck. - Currently, Arduino ESP32 FreeRTOS configuration use Prioritized Pre-emptive Scheduling with time slicing so we just make demo for this type of scheduling. void delay(uint32_t ms){vTaskDelay(ms / portTICK_PERIOD_MS);} defined in packages/esp32/hardware/esp32/1. But as delay() suspended the controller, in real works, for multiple LED controlling, we use Timers/interrupts to control its On/Off time. The delay() function will tell the scheduler that a delay is needed before the next run. g. See the configuration section for more information. This has been working fine since October last year (based on the git history for the code line in question). This leads to the second tangentially related problem. To do so, we simply use the uxTaskPriorityGet function. I wanted to try to do multi tasking usigng the duel core system on the ESP32, Iam able to make it run on Core 0 but not core 1. One of the many interesting features of ESP32 is that it has two Tensilica LX6 cores, which we can take advantage of to run our code with higher performance and more versatility. delay(1); also resets WDT timer but I also do not want it be delayed for 1ms. is there a more complicated example out there? I am trying to figure out how I want to start coding my project where there are 9 "tasks" and I want to utilize both cores efficiently. Modified 3 months ago. 625º—so it needs 360º/5. 1 Sync Time with NTP Service from a server and set the local clock in the ESP32 (this is well documented and working) 2 Read current usecond till next sec, register a Timer#1 to Trigger when the second arrives. See here for a list of supported ESP32 boards. The ESP32 is a FAST microprocessor. So why do I need to give control back to the CPU 1 where the loop is. The esp32 has WiFi and ESP-NOW active at the same time, receiving some data from another esp32. If you want the task to be cancellable in the queue but do not want to check the cancellation token nor throw an exception yourself, you need to use the approximated code with a cancellation token. h BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement ); INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available. Additionally, there are some power-down options that can be configured to further reduce the power consumption. delay( 0 ); do not reset WDT timer. Basically I just want to run a task a given hertz (for example 50 Hz). Hi, I have to drive a stepper motor with my esp32, with a frequency that requires a delay below milliseconds (for example 100 microseconds). That means controlling 1 LED with two different delay times. For example delayMicroseconds(2) takes 330 cycles, corresponding to a delay of more than 4µs, or double what was requested, when running at 80MHz to save power. On an ESP32 delay() is transformed into vTaskDelay() which is a non-blocking delay. But if any task takes more than the expected time, all other tasks will be delayed and you will notice the delay in execution. The delay() call will allow all other tasks to. Delay a task until a specified time. The I2C interface will be configured by calling the i2c_master_init() function and passing the address of the SSD1306_t structure, SDA pin, SCL pin and Reset pin as parameters inside it. Device Description. When the program starts, the Raspberry PI (master) initiates a task. In the previous tutorial, we learned to blink LED by using the delay method. To create a task, use the function xTaskCreate (). ESP32－delay関数（時間調整について）. Board. The arguments to this function are the following [1]:. If your application code does not call vTaskSuspendAll () directly,. 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. 0. When using the Arduino IDE, the program runs by default on core 1. You're 95% of the way there. The process is as follows. Re: small numbers of µS delays. Helpful if you need a long delay() or you want to operating a stepping motor for more than a couple seconds. That needs 2 µs latency to start the waiting task RTOS_2 in core 0. Not sure. If not using ESP32 log printing, which is faster than serial print, then change log_i to use serial prints. print("Task1 running on core "); Serial. You don't need this library for the ESP32 because FreeRTOS is already provided as a component of the ESP-IDF framework of. Hello everyone, I'm transferring a project from the arduino to the ESP32, is there a command to insert the delayMicroseconds function as in the arduino? Do not worry about using delay in the tasks unless needed. A common default value of CONFIG_FREERTOS_HZ is 100, and is what we use in CircuitPython. Step one is the basic, dual led example, which works. vTaskDelay (2000 / portTICK_PERIOD_MS); The RTOS tick period is (by default) 10ms. The code hangs somewhere in here. delayMicroseconds() calls it at least twice. The esp_intr_alloc () abstraction exists to hide all these. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 64-bit range. It’s also one of the worst things. That means controlling 1 LED with two different delay times. (Note: don't forget to call this function, or it will lead to the watchdog restarting the ESP32). It is a signaling process whereby a waiting task is signaled by another task to continue execution. In this tutorial we will see how to execute tasks on both cores. Thus the turn off delay is a multiple (n>=2) of those period times and actual turning off takes place approx [(n-1). Thank you for a good reply.