Timer Initialization¶. Switch to “Standby” mode, when you are not executing any task, which will allow us to save energy. The device sends data via mqtt every 1. g. Using Telegram they can control some lighting as well as receive some notifications to events. In app_main we are creating a freeRTOS task to blink LED at 1 sec delay. The NodeMCU ESP32 is based on the Xtensa 32-bit LX6 dual-core microprocessor that embeds the FreeRTOS OS. Task delay becomes critical; Lower task priority becomes critical; I'd like to avoid to disable the WDT; Interrupt on the button pin to wake up the task could be an option, however I want to avoid interrups and I want to use polling; Is it possible that I can't polling a pin? On all microcontrollers (without FreeRTOS) I think it is easy to. My idea was to create a freeRTOS task for the stepper motor on core 0, so that core 1 can run. This guide also includes a comparison of vTaskDelay () function provided by FreeRTOS with. August 15, 2022. xTaskCreatePinnedToCore (task1, "Task1", 2048, NULL, 1, &task1_handle, 1); xTaskCreatePinnedToCore (task2,. begin (112500); delay (1000); Serial. When it returns. The first thing that jumps out at me is that your stack allotment is to low for using a printf. delay does not block on esp32! A única opção não recomendada é um loop baseado na função millis (). vTaskDelay (ledMode / portTICK_PERIOD_MS) when I call esp_err_t err = nvs_flash_init (); the result is this: Code: Select all. 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. Hi all, I have been fighting a really annoying bug lately and I must be missing something important here. According to the features used by an application, there are some sub sleep modes. 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. println (taskCore); Now we will launch the FreeRTOS task, assigning it to a specific core of the ESP32. ESP32とArduinoIDEでキューを送りたい. If not using ESP32 log printing, which is faster than serial print, then change log_i to use serial prints. 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. all I need is a delay of a task, with the. I actually let you use that function, but what I want to know most is all of the tasks generated within ESP32. 1 Demo - In this demo, we create 2 tasks: low priority task and high priority task. Please lend me a little more. 14 2MBPSRAM QFN5*5 3. Now I believe timer interrupt will be a better option as we will not need. This sounds like an XY problem. Dual Core task crashing even though same command works elsewhere. Any task may put any task (including itself) into the Suspended mode. 0/v1. Hi, I have several tasks in freeRTOS on my ESP32 delaying with the vTaskDelay-function. Task. As demais são totalmente viáveis; isto é, se desejar utilizar delay (), você estará utilizando a vTaskDelay. 0/v3. here is a task using the ESP32's millis cycle counter and the freeRTOS tick counter. Mỗi nhóm có hai bộ định thời đa dụng, cung cấp tổng cộng bốn bộ. If xSemaphoreTake() is used, the actual file download of slows down, acts erratically, and very often doesn't complete, allowing enough time for the watchdog to kick in and reboot the device. The Print stream is configured to the UART0 of the ESP32. My guess is, if the highest priority task calls _delay_ms(), then it will result in a busy wait. You need to make sure it's already there. If I change CircuitPython to use CONFIG_FREERTOS_HZ=1000, the 10ms delay also. After calling it, FreeRTOS knows that the task is finished and should not be rescheduled. To save power when the CPU is idle (no task is running), the "automatic light sleep" / "tickless idle" options have to be enabled in the project config. Hi, I have to drive a stepper motor with my esp32, with a frequency that requires a delay below milliseconds (for example 100 microseconds). You switched accounts on another tab or window. The tick rate you set using configTICK RATE HZ sets the resolution of time you can use with FreeRTOS API functions. Red lights when ethernet or MQTT cannot be connected. ESP32 transmit delay and cluster of packets. Gotta be something to do with that register you set, or the setcrystal thing or one of those libraries. Thank you for a good reply. Check out this question in the esp32 forum. Lucianovici commented on Feb 22, 2019. I believe this is related to CONFIG_FREERTOS_HZ. For example my task execution time may vary from 0. Device Description. Example code: void Task1code( void * parameter ){ Serial. 3. Two problems here. h> #include <freertos/task. 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. . The exact hardware timer implementation used depends on the target, where SYSTIMER is used for ESP32-S3. Even a simple loop causes it to crash: ELF file SHA256: 0000000000000000 Backtrace: 0x4008860c:0x3ffbf8f0 0x40088889:0x3ffbf910 0x401300bc. I'm developing high frequency DAQ based on ESP32 and freeRTOS. That's the whole reason of not using delay(). The ESP32 understandably doesn't like having to load code from flash to RAM in order to service an interrupt. Cheers. • Priorities can range from 0 to N. vTaskList (): This function is used to read the task details (name, state, priority, num). begin(112500); delay(1000); Then, we will create the tasks, with a call to the xTaskCreate function. 05s and I want. 1. 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;. 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. B. pio run -t menuconfig. You say "2 and 8 µS, or even more, is OK. e not giving a delay so that Task Scheduler can run, then it may trigger the watchdog timer. If you don't want to use vTaskDelay maybe you could make the priority of the IDLE and the MAIN task equal. @krupis FreeRTOS delay accuracy can be affected by the FreeRTOS tick resolution, and the priority of the task executing the delay. Raising the level, the interrupt handler can reduce the timer processing delay. delay( 0 ); do not reset WDT timer. I have found the solution of this issue. define a queue, copy, to pass variable A to cpu 1. Code that executes faster can also have other positive effects, e. The timer can be started in one-shot mode or in periodic mode. Go to esp32 r/esp32 • by. However it is just a mediocre and basic solution. When the first instance of the task wakes up, it decrements the count, and it it was 1, it exits the loop, closes the door, and exits the task. Save everything (press S) Now see if you can import spi ram library: #include "esp32/spiram. ESP32 SoC has two processor cores (three in fact, if you also count the ULP core). Shizen February 21, 2023, 1:53am 5. Tasks are meant to be long-running, because they are relatively heavyweight. esp32s3-box-examples - Various. 0000041666666666667 ms per clock tick. 前々回の記事 で、ESP32 ( ESP-WROOM-32 ) のデュアルコア（マルチタスク）を実験してみましたが、今回は、ディスプレイに文字を電光掲示板スクロールしながら、それを止めずに、もう一つの CPUコア で Web 記事をGET してみます。. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. Delay a task until a specified time. External libraries compilation test. Most modern processors have. Next, initialize the NTP client to get date and time from an NTP server. Overview. print ("Starting to create task on core "); Serial. This will open a Preferences dialog box. For this, we’ll use the timer’s equation above, Given that the default APB_CLK is 80MHz or 80,000,000Hz. Follow the next instructions to create a new project on Firebase. Hi, I´m using a vTaskDelay right now to suspend my task for a while, but not being able to unblock before time runs up is a problem. Lock. h" #include "nvs_flash. c. This is the documentation for Espressif IoT Development Framework ( esp-idf ). tool-dfuutil-arduinoIn the previous tutorial, we learned to blink LED by using the delay method. ESP32 x 1; LED x 1; 10 ohm resistor x 1; Potentiometer x 1; Jumper wires;Parameters. vTaskDelay() specifies a time at which the task wishes to unblock relative to the time at which vTaskDelay() is called. If you put the ESP32 module to deep sleep, as per post#5, then WiFi is off. In short, yield() will only allow higher priority tasks to run, but the watchdog runs in the idle task (lower priority) so it won't run with a yield(). I try to understand the concept of the dual core operation, but my solutions keep crashing. However, this crashes my ESP32 every time. 59 *C P=73. The . While millis() is an absolute time clock. 8 or higher, if not then update your IDE with the latest version. The Arduino Core for the ESP32 runs over the ESP-IDF (Espressif IoT Development Framework). The Interrupt Watchdog is responsible for detecting instances where. I also tried putting those two functions (or whatever they are called after. ” The third argument specifies the stack size of the task. , reducing overall power consumption. I have two tasks, one in each core. 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). The next task in this project is to read the temperature that is going to be used to control the damper. Internally, esp_timer uses a 64-bit hardware timer, where the implementation depends on the target. (Note: don't forget to call this function, or it will lead to the watchdog restarting the ESP32). [中文] Overview Optimizing execution speed is a key element of software performance. Project Configuration . 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. Ideally, 500ns or less. lets call it C hz. 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. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 64-bit range. 2. I've run into a problem recently when working on a new project involving an ESP32 and a max43421e (USB Host). Note: Suppose that we have 2 tasks: the low priority task and the high priority task. There are a thousand microseconds in a millisecond and a million microseconds in a second. 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 second task (anotherTask) which starts running along side LOOP (so you then effectively have two programs running at the same time on the esp32). You basically queue up a list of task callbacks and a schedule in your setup() and then do a call to tasks. queue_size – UART event queue size/depth. Problem is, I cannot start them from outside before the time is over. The ESP32 does not do multitasking the way Linux or Windows does. h BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement ); INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available. Then when the task wakes up it could check the RTC and delay a little longer as needed. In the MRE below, the Consumer Task has a higher priority than the Producer Task. The yield() function transfers control to the ESP8266, NOT the scheduler. See the RTOS Configuration documentation for more information. 1. Example code: void Task1code( void * parameter ){ Serial. When it returns the software that supports your ESP32 application gets to do important housekeeping tasks, and reset the watchdog timer. It now supports 16 ISR-based timers, while consuming only 1 hardware Timer. The RTOS task does not consume any CPU time when it is in the Blocked state. Because there are more interrupt sources than interrupts, sometimes it makes sense to share an interrupt in multiple drivers. xTicksToDelay: The amount of time, in tick periods, that the calling task should block. When an interrupt occurs, the microcontroller will go through the following steps: The microcontroller will halt the current task and will store the address of the next instruction (Program Counter or PC) on the stack (lower byte first). Multiply 0. But the documentation for xTaskCreatePinnedToCore () states: "Tasks must be implemented to never return (i. ESP32: shared variable between tasks. h" #include "freertos/event_groups. Re: performance power consumption in loop thread. The second argument is the name of the task for descriptive purposes. h" #include "esp_attr. This callback function is called from the esp_timer task each time the timer elapses. 1. framework-espidf. But instead of using delay, we are going to use timer interrupt. And the most important things that delay() will pause the execution of other codes. The aim of our project is to connect a 5mm LED with one of the 30 pins available for ESP32, configure that GPIO pin as a digital output pin and then toggle its state after a delay of a few seconds to show a blinking effect. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 64-bit range. The time is defined in tick periods so the constant portTICK_PERIOD_MS should be used to convert to real time if this is required. Tests using Task vs LeanTask. Delay a task until a specified time. Espressif ESP32 Official Forum. #include <freertos/FreeRTOS. @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. You will get a notification that the project has been created. This example delays by 500ms: esp-idf-equivalent-to-arduino-delay. When using the Arduino IDE, the program runs by default on core 1. FreeRTOS Timer Task (Tmr Svc) FreeRTOS will create the Timer Service/Daemon Task if any FreeRTOS Timer APIs are called by the application. The below function is used to create tasks that can run on both. However, improving execution speed may have trade-offs with other aspects of performance such as Minimizing Binary Size. h> #include "lwip/err. The arguments to this function are the following [1]:. Hello, I'm trying to send a simple message every 70ms from an ESP32 device configured in softAP mode to move. The HTTP server runs normally, but "crashes", page times out. Official development framework for ESP32 chip. I have a problem, with the following components: -ESP32cam ai-thinker (using camera and SD) -CDM324 with amplifier (IF pin connected to GPIO_16) The idea is that the CDM324 sensor sends a frequency to esp32, which can process, and according to the result, take the photo and store in the SD. Serial communication that appears. h. CONFIG_FREERTOS_TIMER_TASK_PRIORITY. An ESP32 Event Group is simply a collection of flag bits that can be set / reset. ) Delay () Postby WiFive » Sun Jul 09, 2017 3:04 am. In Arduino, you can find this ‘blink without delay’ example:. This function takes exactly the same arguments of the xTaskCreate and an. I am using ESP32 CAM module for a line follower robot. 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. Task 2 will run on core 1, receiving data from first task and send it async over TCP. 0. create_task it may be cancelled. Consider three tasks. Basically I just want to run a task a given hertz (for example 50 Hz). Multitasking on the ESP32 is non-preemptive. Inside the DHT_Oled_task() we will first initialize the I2C interface. 追記：プログラム解説 setup内But this delay(1) is designed only for ESP32-S2. 3V ESP32-D0WD(NRND) Dualcore v1. The delay()’s are there as an attempt to see if it changes anything. The exact hardware timer implementation used will depend on the target, where LAC timer is used for ESP32. So why do I need to give control back to the CPU 1 where the loop is. This guide also includes a comparison of vTaskDelay () function provided by FreeRTOS with different delay values in milliseconds. Also run each test at least twice, to detect nondeterministic/random effects. You're 95% of the way there. The payload can be a buffer which the original task allocated at disposal of the transmitter. Oh, I actually use short delays at times when it doesn’t matter… but in this forum we do try to teach Blynk embedded, approved and comparatively easy to learn timing methods, without limiting to special MCUs. ESP32 Arduino and MicroPython both use CONFIG_FREERTOS_HZ=1000. INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. The async web server uses AsyncTCP, which uses its own task for event callbacks. 5 seconds. Go to Firebase and sign in using a Google Account. I'd shy away from millis() and use the ESP32's cycle count values. A common default value of CONFIG_FREERTOS_HZ is 100, and is what we use in CircuitPython. The High Resolution Timer (ESP Timer) provided by FreeRTOS uses a 64 bit hardware timer. Arduino Wiring-based Framework for the Espressif ESP32, ESP32-S and ESP32-C series of SoCs. If you switch to ESP-IDF, you can enable these in your project. They never yield the processor. For whatever reason the delay function is not working (it is not delaying at all) with my ESP32 development board. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 52-bit range. That method blocks ESP32 from doing other tasks. More precisely the ip5306 version that has been discontinued. print ("Starting to create task on core "); Serial. . The ESP-IDF has support for two types of watchdogs: The Interrupt Watchdog Timer and the Task Watchdog Timer (TWDT). Go here: Top → Component config → ESP32-specific. A delay of 0 causes any pending tasks to be scheduled in round-robin fashion before the following line is run. The ROM function ets_delay_us() (defined in rom/ets_sys. The call will return immediately if the queue is full and xTicksToWait is set to 0. Now these criteria are in a microprocessor time scale - microseconds. I need to know all this breakdown. pos;i++)Exact delays. You can't use it with board that have an ESP32 microcontroller. Is it possible that within a task running on Core 0 the esp_task_wdt_reset () to fail to reset the WD timer? Board: ESP-WROOM-32 WEMOS. See here for a list of supported ESP32 boards. Ble Advertising Start. /* Blink without Delay Turns on and off a light emitting diode(LED) connected to a digital pin, without using the delay() function. This the first of a new set of tutorials by SwitchDoc Labs on using the ESP32, the follow on chip to the popular ESP8266. Basically, im capturing audio data in stereo via the builtin ADC. The two ESP32 timer groups, with two timers in each, provide the total of four individual timers for use. That is shown in two different ways, 1. curr_pos; i<=stepper1. Timer – bộ đếm thời gian, được sử dụng để đo và kiểm soát thời gian. As you can see from the logs, the time keeps deviating. 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. h" #include "esp_event_loop. Postby mikemoy » Thu Jan 30, 2020 2:33 pm. That way an un-intended lockup will be recoverable. The detail instruction, code, wiring diagram, video tutorial, line-by-line code explanation are provided to help you quickly get started with ESP32. In our case we set the second argument as “LED_Control_Task. curr_pos; i<=stepper1. You don't need this library for the ESP32 because FreeRTOS is already provided as a component of the ESP-IDF framework of. I can put test code around this to verify. The best resource to get started from what I've found is the esp-rs book. 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. The first argument is the name of the function. The only functions that change uxSchedulerSuspended are vTaskSuspendAll () and xTaskResumeAll (). com ↑以前ESP32で赤外線の送受信を行うプログラムを紹介しました。 このプログラムの中で「ESP32にdelayMicrosecondsがない」としてシステム時間の計算をして擬似的にμsのdelayを行なっていました。しかし最近色々調べてみると、実はESP32にもμs単位でのdelayを行う関数が存在している. Next, go to Tools > Port and select the appropriate port through which your board is connected. When you use several pins to wake up the ESP32, it is useful to know which pin caused the wake up. It may shed some light on the reason why Task1 is stopped. , reducing overall. The esp32 is placed close to the AP. First of all, you don't want to delay the loop() ever. 1 seconds which is not what I want. Just a note, calling delay() in any webserver callback blocks the AsyncTcp thread, which is bad. Your issue could be one of two tasks Task2 or loop (). Most modern. Delay () Postby WiFive » Sun Jul 09, 2017 3:04 am. Down at the very bottom you'll see two core task assignments - one for the stepper loop, one for. Use vTaskSuspend () at the start of the loop to have the task wait till it's woken up. In the task print the task sized using something like this, log_i ( "fDoTheHumidityThing high watermark %d", uxTaskGetStackHighWaterMark ( NULL ) );. 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. Once the delay was added the ledc updates worked fine when on core 0, once I moved to core 1 I ran into the issue again. Which means the freeRTOS task switcher will swap to another task during the delay, non-blocking. 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. Required Hardware. The exact hardware timer implementation used depends on the target, where LAC timer is used for ESP32. See the roundrobin. What's the reason or how can I get shorter delay when the smallest delay which I can use using assembler "nop" command gives me 0. Two reasons why this is helpful. 1) Generate negative pulse ~100nS on pin 2 (after that pulse. (esp_task_wdt_add (NULL); esp_task_wdt_reset ();) instead of delay (x. Hardware: Board: ESP32 DEV Board (DoIt) Core Installation/update date: Feb 15 2018 IDE name: eclipse Flash Frequency: 40Mhz Upload Speed: 115200 Description: Hi, I am having periodically issues with my wifi net. Note: The example code for this project stores the library files in the same folder as the Arduino. Here is the source to show superfast interaction: External interrupt detected by task Core1 --300ns--> RTOS_2 (core 0) reacts. For example, specifying a. Deixe-a para quando estiver programando um Arduino. I wrote the following sketch to try and confirm my understanding of how multitasking is handled. Task B and C has the same periodicity but C has higher priority. TASK_2 has prio 2. Blocking functions prevent a program from doing anything else until that particular task has completed. This task will self delete when app_main returns. 1-1 That FreeRTOS library is specifically written for use with boards that have an AVR architecture microcontroller. It does not interact with RTOS and calling it will actually block everything for 100ms, if it is called from higest-priority task. ps2keyboard-esp32c3 - PS/2 keyboard implementation for ESP32-C3. The next task in this project is to read the temperature that is going to be used to control the damper. In our case, we have set it to Demo_Task. CONFIG_ESP_MAIN_TASK. Every once in a while it appears the vTaskDelete call ends up deleting or blocking the calling task as well. Timer callbacks can be dispatched by two methods: Arduino ESP32 is built over FreeRTOS and actually the main program is put in a loopTask . 15s to 0. But call wifi disconnect Function, core panic is occurs. taskFinished) { //busy } int result = task. h" #include "esp_system. Note that this is busy-waiting – it does not allow other tasks to run, it just burns CPU cycles. h" #include "esp_wifi. The esp-idf-kconfig package that ESP-IDF uses is based on kconfiglib, which is a Python extension to the Kconfig system. The ESP32 does not reset now. You do not have the required permissions to view the files attached to this post. Description. But as delay() suspended the controller, in real works, for multiple LED controlling, we use Timers/interrupts to control its On/Off time. Most Arduino sensor libraries use calls to delay() to wait for the reading to become available. 芦 锟絯 锟斤拷锟斤拷（Receive raw data from mesh network and forward it directly to serial port. Learn more about Teams #include "freertos/FreeRTOS. The actual time that the task remains blocked depends on the tick rate. I've tried pinning the task to either core. ) to perform the delay. Now enable “Support for external, SPI-connected RAM” by pressing space over it. It’s scheduled to run on a delay of 50 milliseconds. The esp_intr_alloc () abstraction exists to hide all these. Isn't the ESP32 able to run simultaneously on both cores? Well it should as per tech spec. That means controlling 1 LED with two different delay times. // "iBeacons-ESP32-Tracker. Using "nop" command gives me 0. If you know that lower priority tasks will always be starved, by design, then it doesn't make much sense for the watchdog to panic about it. If the Resumed task has higher priority than the running task then it will preempt the running task or else stays in ready state. Note that this behavior is the expected since the implementation of the ESP32 for the Arduino delay uses the FreeRTOS vTaskDelay function, as can be seen here. 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. The HTTP server runs normally, but "crashes", page times out. (Note: don't forget to call this function, or it will lead to the watchdog restarting the ESP32). I would like to implement a producer/consumer task on ESP32. (ESP32 only) // Task to run forever xTaskCreatePinnedToCore( // Use xTaskCreate() in vanilla FreeRTOS toggleLED_2, // Function to be called "Toggle 2", //. You just don't want to do all the stuff every loop. Delay in mS. task1 will print the strings "task1. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. TaskScheduler. Code to send the device to sleep: unsigned int time_to_sleep_sec = 86400; esp_sleep_enable_timer_wakeup (1ULL * unsigned int time_to_sleep_sec * 1000 * 1000); esp_deep_sleep_start (); Instead of 86400 seconds, the device woke up after. begin (112500); delay (1000); Serial. TX function will block task until all data have been sent out. See the configuration section for more information. xTaskNotify () is used to send an event directly to and potentially unblock an RTOS task, and optionally update one of the receiving task’s notification values in one of the following ways: Write a 32-bit number to the notification value. Also, AsyncTCPSock, which starts its own task. 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 . the stepper_task never receives another message from the queue. The failure seemed to take place when the in-line reading was taking place. I am getting confused at some places. All examples have. @Whandall perhaps you can help out making this ESP32 task example more indicative of what ESP32 can do. Can you tell me whether this sort of modbus messaging makes any sense So I have ESP32 devices that are each assigned a serial number. I would like to write my own function to create a delay in a FreeRTOS task,. continuous loop). . Also run each test at least twice, to detect nondeterministic/random effects. uart_queue – UART event queue handle (out param). 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. Suppose wifi and mqtt are connected. I have an issue when I try to run everything in a. If you REALLY need a delay, use ::delay(), but this will block the task and the scheduler. The following tasks did not reset the watchdog in time : - IDLE (CPU 0 ) - IDLE (CPU 1 ) Tasks currently running: CPU 0: blinkLedTask CPU 1: ipc1 Task watchdog got. Internally, esp_timer uses a 64-bit hardware timer, where the implementation depends on the target. vTaskDelay is no good for small mS delays. 3V ESP32-U4WDH Dualcore3 v3. // ESP32 example. That means that it ticks at C times per second or, each clock tick is 1/C seconds. Schedulers.