ESP32 - Stepper motor using freeRTOS task

[RAc]

@alelor

I know that the vTaskDelay() cannot go higher than 1kHz.

This isn’t true unless this is an MCU limit. Check with this very concise explanation:

How to use microsecond function calls in freeRTOS?

The issue with high tick rates isn’t that FreeRTOS itself has problems, but that running the tick at a high frequency means the tick interrupt and the scheduler get run often, and use up significant CPU resources, and at some point, they will use up all the CPU time so nothing is left to run your program. What does have a problem are some of the ‘convenience’ macros that convert time periods to ticks, those don’t work right if your tick period isn’t an integral number of milliseconds. Another p…