Software timers
A software timer allows a function to be executed at a set time in the future. The function executed by the timer is called the timer’s callback function. The time between a timer being started and its callback function being executed is called the timer’s period. The FreeRTOS kernel provides an efficient software timer implementation because:
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It does not execute timer callback functions from an interrupt context.
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It does not consume any processing time unless a timer has actually expired.
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It does not add any processing overhead to the tick interrupt.
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It does not walk any link list structures while interrupts are disabled.