>>>> retval = rtdm_task_init(&pwm_task[i], // there is currently only one
>>>> element in this array
>>>>                       "pwm-task",
>>>>                       pwm_task_proc,
>>>>                       0,
>>>>                       RTDM_TASK_HIGHEST_PRIORITY,
>>>>                       20000000); // 20ms period
>>> Do not use a thread, use a timer.
>> So you mean instead of starting periodic task with rtdm_task_init() it
>> is better use timer functions to trigger pin toggling piece of code?
>> Could you please elaborate on it a little? I thought that
>> rtdm_task_sleep() and rtdm_task_wait_period() are using timers
>> internally to wake up the thread at the right moment. Is not they?
> Yes, but once the timer is woken up, a context switch is needed to wake
> up the thread, this adds time.

I see... Nevertheless, I am surprised that context switch is so expensive.

> The other alternative I describe in my last mail, that is, using a
> dedicated hardware timer with its own irq handler, is a bit more of a
> workaround, but still not uncommon in the RTOS world.

Well, if nothing else would help, I'll try this way :-) .

Thank you!

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