From 1674007989c9af1ff99bc6ab195470592f5fa660 Mon Sep 17 00:00:00 2001 From: Kody Stribrny Date: Mon, 22 Dec 2025 09:14:28 -0800 Subject: [PATCH] Add catch up behavior to xTaskDelayUntil. Adds an explanation for why xTaskDelayUntil can break from the configured frequency when catching up for past events. More will be added to the website documentation. --- include/task.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/include/task.h b/include/task.h index a25740e3bbd..8ecfeab0d3c 100644 --- a/include/task.h +++ b/include/task.h @@ -897,7 +897,8 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION; * * @return Value which can be used to check whether the task was actually delayed. * Will be pdTRUE if the task way delayed and pdFALSE otherwise. A task will not - * be delayed if the next expected wake time is in the past. + * be delayed if the next expected wake time is in the past. This prevents periodic + * tasks from accumulating delays and allows them to resume their regular timing pattern. * * Example usage: * @code{c}