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MCU-PLUS-SDK-AM263X: Software timer?

Part Number: MCU-PLUS-SDK-AM263X

Tool/software:

Hi

I would like to know if there is a reliable software timer implemented with callback (similar to HW TimerP driver).

The closest one I could find is cb_xtimer and cb_xtimer_create with callback.

The reason why I would like to not use TimerP is that I have more (than 4 hw timers) "heartbeat/sync" tasks which needs to happen as close as possible to 1msec but they are not started at once.

cb_xtimer is the one? Is it reliable enough?

The only usage of it I could found is in the networking/tsn-stack. 

EDIT: meantime I've found xTimerCreateStatic thus probably I'll experiment with it.

Best regards