Hardware timers are essential to most embedded applications: I use them mostly for triggering actions at a given frequency, such as acquiring data from a sensor. With using an RTOS, I can do a similar thing using a task: The task will run with a given frequency and I can periodically work in it. However, using a task might be too much overhead doing this. The good news is that there is a much more efficient way to do this in FreeRTOS with software timers.
FreeRTOS Software Timers
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