vTaskDelayUntil() vs v´xTaskDelayUntil()

The functions look identical with the exception that the former returns void. Which one shall be used?

The comment on this line says:

/*
 * vTaskDelayUntil() is the older version of xTaskDelayUntil() and does not
 * return a value.
 */

So you should use xTaskDelayUntil.

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