Can someone explzin me the actual difference between vTaskDelay & vTaskDelayUntil
In vTaskDelay you say how long after calling vTaskDelay you want to be woken. In vTaskDelayUntil you say the time at which you want to be woken. The parameter in vTaskDelay is the delay period in the number of ticks from now. The parameter in vTaskDelayUntil is the absolute time in ticks at which you want to be woken calculated as an increment from the time you were last woken.
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