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. Delay a task until a specified time. In the Extension, select ESP-IDF option: We will click the ‘ esp_timer ’ under the System tab. 0/v3. See Sleep Modes for these sleep modes and sub sleep modes. The process is as follows. You may also use any. The following optimizations will improve the execution of nearly all code - including boot times, throughput, latency, etc: Set CONFIG_ESPTOOLPY_FLASHFREQ to 80 MHz. _delay_ms is (most probably) AVR implementation for delay. cpp 📋 Copy to clipboard ⇓ Download. h" #include "freertos/task. g. TaskScheduler. It determines what process to run next based on priority. Serial communication that appears. boarchuz is right. See the roundrobin. Here is what you need to do to install the ESP32 boards into the Arduino IDE: Open the Arduino IDE. The actual time that the task remains blocked depends on the tick rate. You could implement a master-slave-system either with a master that's assured to always run the task with the longest execution duration and signal the end of each task to synchronise the slaves or you do it the way I2C works, pulling down the. Next, initialize the NTP client to get date and time from an NTP server. 15s to 0. Each task runs until it needs to wait for something, or until it decides it. loop () runs on core 1 and, using freeRTOS loop should look like this : Code: Select all. If bot. 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. as well as by blocking task in loop(), using delay() function as an example. It now supports 16 ISR-based timers, while consuming only 1 hardware Timer. The syntax looks like below. (esp_task_wdt_add (NULL); esp_task_wdt_reset ();) instead of delay (x. ESP32 is a series of low cost, low power system on a chip microcontrollers with integrated Wi-Fi and dual-mode Bluetooth. According to the features used by an application, there are some sub sleep modes. One of the best things about Arduino is the ability to just block for a period with: delay (1000); // hang on a second, buddy. This indicates the amount of memory we want to reserve for the particular task. Steps to be followed to create a task are: Create a task handle to keep a track of the task created. Code: Select all. The objective of this post is to give an introduction to FreeRTOS queues, using the ESP32 and the Arduino core. Please take a step back and describe with a broader view what you are trying to achieve. 6/cores/esp32/esp32-hal-misc. void loop () Also, the default priority of loop () is 1,assign your taskings to something higher than 1; like 3. In void setup (), create two tasks (TaskLED and TaskBlink)using the xTaskCreate () API and then create a semaphore using xSemaphoreCreateBinary (). 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. This is on windows. h> #include <sys/time. The ESP32 does not do multitasking the way Linux or Windows does. The ESP32 is dual core; Arduino sketches run on core 1 by default; To use core 0 you need to create tasks; You can use the xTaskCreatePinnedToCore () function to pin a specific task to a specific core; Using this method you can run two different tasks independently and simultaneously using the two. You can see the code here. delay( 0 ); do not reset WDT timer. vTaskDelay(500 / portTICK_RATE_MS); You can use. Aswell "for" loop with 1 iteration takes longer then on OPEN RTOS SDK. This function takes in several arguments. If your application code does not call vTaskSuspendAll () directly,. 1. It will count down and trigger the ISR as desired as many times as I want, but when I disable it (so that the. Right now I see on the monitor that the loop in the vTask_Manage_STA_Connection runs a single time. Using "nop" command gives me 0. The task that lights up the LED connected to GPIO10 has a priority of 1. The Interrupt Watchdog is responsible for detecting instances where. To multitask, it is interesting to use all the resources of the microprocessor. 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. Project Configuration . delay() doesn't actually block the CPU at all. It used to obtain handle or while debugging the task. lib_deps = feilipu/FreeRTOS @ 10. You can't use. For this, we need to pass the handle of the task to be resumed. The High Resolution Timer (ESP Timer) provided by FreeRTOS uses a 64 bit hardware timer. h> #include <time. ESP32 Repeatedly Crashes with FreeRTOS Task. Introduction . timeClient. I believe this is related to CONFIG_FREERTOS_HZ. 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. In the task print the task sized using something like this, log_i ( "fDoTheHumidityThing high watermark %d", uxTaskGetStackHighWaterMark ( NULL ) );. rikoubou. As we have been covering in previous tutorials, the ESP32 has two Tensilica LX6 cores [1] which we can use to execute code. TASK_1 has prio 1. I have changed it to 1000. h> #include <freertos/task. Even a simple loop causes it to crash: ELF file SHA256: 0000000000000000 Backtrace: 0x4008860c:0x3ffbf8f0 0x40088889:0x3ffbf910 0x401300bc. TaskScheduler. It's a bit different from a real Arduino where there's nothing else going on. framework-espidf. ESP32－delay関数（時間調整について）. xTaskCreate (uploadToAWS, // Function that should be called "Upload to AWS", // Name of the task (for debugging) 1000, // Stack size (bytes) NULL. -- So I have a big pile of spaghetti here (link to sketch dump). 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. Spoilers below! I highly encourage you to try the challenge on your own before comparing your answer to mine. First, interrupt handlers need to be defined using the IRAM_ATTR attribute in order to ensure that they're already loaded into instruction memory (IRAM). 0 by Oleg Mazurov ). h> #include "lwip/err. The TWDT is responsible for detecting instances of tasks running without yielding for a prolonged period. See the configuration section for more information. So I Used the actual Flag this time Timer_Turnon task in only running rest of. ). Click on the Preferences menu item. 1. (there is no problem of core). To say it works is really stretching it. Can be achieved by putting. This number corresponds to the tick which is the frequency of the chip. This is the documentation for Espressif IoT Development Framework ( esp-idf ). It may shed some light on the reason why Task1 is stopped. You should use it if you are using arduino, and also you should post in the arduino forum. 8V/3. Implementing ESP32 hardware watchdog timer using Arduino IDEThe right way to do this is to have the interrupt service routine just wake up a task. –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. ” The third argument specifies the stack size of the task. When using USB CDC as the serial port, no combination of use or non-use of setDebugOutput and Serial. You basically queue up a list of task callbacks and a schedule in your setup() and then do a call to tasks. The code runs very fast until it casues a stack overflow and resets the esp. I have ensured that this is the only task with priority 1. (Note: don't forget to call this function, or it will lead to the watchdog restarting the ESP32). For example, 1us = 1 / 1000000 of a second = 1MHZ clock rate. Delay a task. 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 device sends data via mqtt every 1. Now click ‘ Create project using template esp_timer . This. House cleaning tasks will be performed when there is no code in loop(), so no issue there. 60. The TWDT is responsible for detecting instances of tasks running without yielding for a prolonged period. ", ""); is added to the soundDoorbell () function then the following crash occurs. 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. So, when the Producer sets the Event Group bit, I would expect the Consumer Task to preempt it, do its printing, and then block itself again BEFORE the (lower priority) Producer Task resumes executing. h> #include <time. CircuitPython uses the asyncio library to support cooperative multitasking in CircuitPython, which includes the async and await language keywords. On ESP32, micros() takes about 150 cycles. The exact hardware timer implementation used will depend on the target, where LAC timer is used for ESP32. The problem showed up with the release of ESP32 core v2. esp32c3-ota-experiment - ESP32-C3 Bare Metal OTA Experiment. An ESP32 timer group should be identified using timer_group_t. These push buttons specifies the PWM value of motors and some constants. Notably the ESP8266 and the ESP32 both have “watchdog timers” which are used to help with stability. slowly charged capacitor, or an external, One-Shot delay timer like a NE555. CMake is an open-source, cross-platform family of tools designed to build, test and package software. 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. 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. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 64-bit range. In this example we will have two tasks, an ESP32 task (loopTask), we will add another task to our application. If INCLUDE_vTaskSuspend is set to '1' then specifying the block time as portMAX_DELAY will cause the task to block. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 64-bit range. That means that it ticks at C times per second or, each clock tick is 1/C seconds. Description. 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. I'm totally new to programming and electronics, it would be very helpful if someone helped me figure this out. Unless it is a linear and very simple program , do not use this. INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. The nature of the tasksHello, My question is about implementing the functionality of HALDelay(), which is implemented based on the SysTick timer tick count. 1. When the Global variable is set by the BLE task (Task2) the Timer_turn on task (Task3 has to run). they say "waiting for either a temporal or external event" temporal A Task can block itself, and can set a timeout for the block. Hi, it's me again with more stupid questions. 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. NORA-W106 (ESP32-S3) NORA-W106 module. Because there are more interrupt sources than interrupts, sometimes it makes sense to share an interrupt in multiple drivers. Timer callbacks can be dispatched by two methods: Arduino ESP32 is built over FreeRTOS and actually the main program is put in a loopTask . It may shed some light on the reason why Task1 is stopped. esp_task_wdt_init(WDT_TIMEOUT, true); // enable panic so ESP32 restarts esp_task_wdt_add(NULL); // add current thread to WDT watch And this in the loop() part:. 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. After you have uploaded your code to the development board, press its ENABLE button. This way, if the ESP32 is booted from Power-On, that input is still seeing a low voltage, but when it. h BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement ); INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available. The task which runs setup () and loop () is created on core 1 with priority 1. Gotta be something to do with that register you set, or the setcrystal thing or one of those libraries. The scheduler can stop, suspend, and resume individual tasks. Down at the very bottom you'll see two core task assignments - one for the stepper loop, one for. What should ı do to adding microsecond delay? Here is the sample code : for(int32_t i = stepper1. Therefore, it seems that the printing. Good afternoon, I want to make a continuously operable gateway that measures temperature with esp32. , the total number of tasks required by "uxTaskGetNumberOfTasks ()" is a large number such as 18. Running a number of times or forever. Board index English Forum Discussion Forum ESP32 Arduino; Simple Semaphore as task delay with interrupt. As we know, the illusion that all the tasks are running concurrently is achieved by allowing each to have a share of the processor time. 15 — QFN6*6 1. I'm basicly testing the sending data from the ESP32 to Firebase. The first argument is the name of the function. 1. uart_queue – UART event queue handle (out param). esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 52-bit range. 4 GHz Wi-Fi® band as well as Bluetooth® 5. Re: Task watchdog got triggered. ESP32 LED Blinking Project Overview. ESP32 Timer Example (Arduino) Let’s say we’d like to toggle an LED every 1 ms without using a delay that blocks the CPU and does much harm to the overall timing performance of your system. . The. Schedulers. Go to Firebase and sign in using a Google Account. FreeRTOS provides lightweight tasks. h" #include "esp_system. In app_main we are creating a freeRTOS task to blink LED at 1 sec delay. This. [中文] Overview Optimizing execution speed is a key element of software performance. A primeira tarefa será a automatização do controle de um ventilador a partir da temperatura ambiente, e a segunda tarefa será o desenvolvimento de um lembrete diário para beber água. Inside the DHT_Oled_task() we will first initialize the I2C interface. Posted by rtel on December 24, 2014. That made it stable, but I still had issues with global variables being updated, so I had to add a delay to the task. ESP32 runs FreeRTOS with preemptive multi-threading. 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. It all works perfectly, UNTIL I implement a critical section around the writes to the array, at which point it starts throwing exceptions. I don't need delay resolution below 10msec and suspect that upping the rate will have some impact on overall performance. callTask_3 (); // do something else } The trick is that each callTask. 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. You just don't want to do all the stuff every loop. void vTaskDelayUntil (TickType_t *const pxPreviousWakeTime, const TickType_t xTimeIncrement) ¶. An alternative way to perform a task periodically is to count the time manually, and execute the right codes at the right moments. Tasks are meant to be long-running, because they are relatively heavyweight. Initially, the tasks must run in this predefined order. 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. 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> #include <sys/time. Hello. Overview. The 28BYJ-48 Stepper Motor has a stride angle of 5. So how is it the main task will happily delete itself upon return, but. With a big disclaimer that there's. The function below is a task handler, I am trying to init subsystems (SPIFFS, Wire. Multitasking on the ESP32 is non-preemptive. I would like to toggle an output pin in the order of microseconds so use the function delayMicroseconds. Note: The example code for this project stores the library files in the same folder as the Arduino. Another nice hub for information is the awesome-esp-rust collection. Go to esp32 r/esp32 • by. ems912 February 8, 2023, 12:46am 1. More precisely the ip5306 version that has been discontinued. Solution. As you can see from the logs, the time keeps deviating. #include <stdio. Here is the part of the code which I'm using for the timer:Introduction. A common default value of CONFIG_FREERTOS_HZ is 100, and is what we use in CircuitPython. You say "2 and 8 µS, or even more, is OK. Reload to refresh your session. Yield() is so niche and easily. To open the project in a new window, click ‘Yes. Basically I just want to run a task a given hertz (for example 50 Hz). Not that an ESP32 dual core tutorial is bad, perhaps overtly advanced for. Watchdog timers are intended to catch when the software has gone into an infinite loop or. Jan 3, 2021. void delay(uint32_t ms){vTaskDelay(ms / portTICK_PERIOD_MS);} defined in packages/esp32/hardware/esp32/1. 2. 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. . Here is the source to show superfast interaction: External interrupt detected by task Core1 --300ns--> RTOS_2 (core 0) reacts. 5. We need to pass a string pointer (buffer) to which it copies the above task details. 5 seconds. Since you are running only a single task on the ESP32 the delay(100) will interfere with the response of the callback function. Raising the level, the interrupt handler can reduce the timer processing delay. The CPU is executing at a constant processor clock rate. 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. ” It takes in the first parameters an integer (uint32) which is the constant TickType depicting the ticks to delay. h" #include "esp_wifi. Thank you for your quick reply. I actually let you use that function, but what I want to know most is all of the tasks generated within ESP32. hatenablog. For example, specifying a. Delay in mS. The Interrupt Watchdog Timer and the TWDT can both be enabled using Project Configuration Menu, however the TWDT can also be enabled during runtime. 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。. CONFIG_ESP_MAIN_TASK. The objective of this post is to provide an introduction to FreeRTOS counting semaphores, using the ESP32 and the Arduino support. vTaskDelay (0) vs taskYIELD () taskYIELD () just performs a yield in whatever way the port being used does not. ESP32とArduinoIDEでキューを送りたい. void vTaskDelayUntil (TickType_t *const pxPreviousWakeTime, const TickType_t xTimeIncrement) ¶. The detail instruction, code, wiring diagram, video tutorial, line-by-line code explanation are provided to help you quickly get started with ESP32. Microsecond delay within task. If the total is ~ 520kB, we can take the percentage. 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). The ESP32 does not reset now. Here is the actual circuit connected on a breadboard as per the circuit diagram. Both of your tasks are running at full steam ahead with no controls. I also used portTICK_RATE_MS but the speed didnt change . Improving Overall Speed ¶. As long as each Device is accessed by only one task, the driver is thread-safe. The circuit: * LED attached from pin 13 to ground. delay(1); also resets WDT timer but I also do not want it be delayed for 1ms. The exact hardware timer implementation used depends on the target, where SYSTIMER is used for ESP32-S3. 3V ESP32-D0WD(NRND) Dualcore v1. Connect and share knowledge within a single location that is structured and easy to search. ESP32 Dual Core Programming. #include <rom/ets_sys. The second argument is the name of the task for descriptive purposes. I promise this one is definitely about dual core issues and not my crappy array management. 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. Low uS delays will not be easy in software because another task/ISR might cut across you. ESP_Angus Posts: 2344According to FreeRTOS there is no easy way to calculate the memory requirements of a task. 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. The second argument is the name of the task for descriptive purposes. I am new to ESP32 programming, coming from Arduino, and I am struggling with the task watchdog timer. Sometimes my ESP32 looses. You can use a semaphore. the "1st delay done" message is not printed. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. Q&A for work. 芦 锟絯 锟斤拷锟斤拷（Receive raw data from mesh network and forward it directly to serial port. Timers' interval is very long (ulong millisecs). 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. Isn't the ESP32 able to run simultaneously on both cores? Well it should as per tech spec. 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. Solution. xTaskCreatedPinnedToCore() function is used to create a task assigned to a specific core. The second argument is the name of the task for descriptive purposes. You should use it if you are using arduino, and. Lock. , reducing overall. io Flash Frequency: xxxx Upload Speed: xxxx Hi! When I started to develop on a Arduino everything was singlethreaded, and I was in full control of the. (ESP32 only) // Task to run forever xTaskCreatePinnedToCore( // Use xTaskCreate() in vanilla FreeRTOS toggleLED_2, // Function to be called "Toggle 2", //. This example delays by 500ms: esp-idf-equivalent-to-arduino-delay. 2ms after the last step. h) will allow you to busy-wait a specified number of uS. Using Arduino Microcontrollers. I have some code running as a FreeRTOS task on my ESP32. Lucianovici commented on Feb 22, 2019. Never use Software delays such as these in any Hardware or Software Interrupt. xTaskCreate is the freeRTOS call used to create task. This tutorial instructs you another method to blink LED without blocking other tasks. Adding a priority 0 task (which indicates when CPU is in IDLE, delay / etc), we can start playing. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. If a Task is run concurrently with . ". continuous loop). Task. The esp_intr_alloc () abstraction exists to hide all these. ESP32: shared variable between tasks. ps2keyboard-esp32c3 - PS/2 keyboard implementation for ESP32-C3. If you REALLY need a delay, use ::delay(), but this will block the task and the scheduler. Thank you for a good reply. They never yield the processor. LAC timer is used for ESP32. Here is some example code. Task. delay () will stop every other code from execution. As for what it means, if you use WiFi etc. The loop () in the above code doesn't use a delay, and has no output either. // "iBeacons-ESP32-Tracker. If you use portMAX_DELAY for timeout then it's an indefinite block and a task blocking for this time actually becomes. We create 2 tasks: task1 has priority is 1, task2 has priority is 4. Arduino typically shows a 1ms. timerBegin. If your application requires that you constantly. Device Description. A common default value of CONFIG_FREERTOS_HZ is 100, and is what we use in CircuitPython. I promise this one is definitely about dual core issues and not my crappy array management. @Power_Broker I understand this basic kind of delay and how millis function run inside the delay function. But instead of using delay, we are going to use timer interrupt. 1. Ask Question Asked 1 year, 3 months ago. #2. CONFIG_FREERTOS_TIMER_TASK_PRIORITY. This leads to the second tangentially related problem. h. 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. So we know that delay() is a relative time clock. The way that time is allocated between tasks is termed “scheduling”. So I know the stepper_task is not hanging. xTaskDelayUntil [Task Control] task. It Seems that when use Task1 on Core 0 That First line gets thrown to the end. Rehan11 September 25, 2021, 3:24am 1. ESP32-D0WDR2-V3 Dualcore v3. pos;i++) I'm totally new to programming and electronics, it would be very helpful if someone helped me figure this out. Connect to Bluetooth Client (my phone) 3. ). In my FreeRTOS project, I am using another timer, namely TIM1, therefore using HALDelay() doesn’t give me correct behaviour. This function takes exactly the same arguments of the xTaskCreate and an. Must you change any settings in menuconfig ? Or Must you add any code so you can use core 1 ? Here is my code:Task task = Task(); task. It does not interact with RTOS and calling it will actually block everything for 100ms, if it is called from higest-priority task. 2. g. In this article, we will discuss how to debounce a button press using Interrupts and timers. It’s scheduled to run after 120 milliseconds when run the first time. c. 1. Timer – bộ đếm thời gian, được sử dụng để đo và kiểm soát thời gian. Put your current code from gpio_isr_handler () in a task in an infinite loop with a , start the task in app_main () and have gpio_isr_handler () just wake the task. System initialization of software services and FreeRTOS. for (;;) { // read the input on analog pin 0: int sensorValue = analogRead (A0); // print out the value you read: Serial. Ideally, task 2 should send data while task 1 collecting latest one. The desired T OUT for the interrupt period in which we’ll. August 15, 2022. 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. 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. After calling it, FreeRTOS knows that the task is finished and should not be rescheduled. The operating voltage of this SoC is 3. tool-dfuutil-arduinoIn the previous tutorial, we learned to blink LED by using the delay method. I have disabled all interrupts. Hi all, I have been fighting a really annoying bug lately and I must be missing something important here. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. 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. #1. begin (112500); delay (1000); Serial. Delay a task until a specified time. Nothing changes if I use yield() instead of esp_task_wdt_reset(); However, if i change esp_task_wdt_reset() to vTaskDelay( 10 / portTICK_PERIOD_MS ), then no more WDT reset, but I don't want 10ms delay for my task. The delay()’s are there as an attempt to see if it changes anything. Problem is, I cannot start them from outside before the time is over. 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. vTaskDelay() specifies a time at which the task wishes to unblock relative to the time at which vTaskDelay() is called. The failure seemed to take place when the in-line reading was taking place. 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. Call portDISABLE_INTERRUPTS (and portENABLE_INTERRUPTS after you’re done) and the interrupts on that core should stop firing, stopping task switches as well. In the examples, each task is in an infinite loop.