RTOS/LAUNCHXL-CC2640R2: How can i create timer?

Part Number: LAUNCHXL-CC2640R2

Tool/software: TI-RTOS

Hi I want create timer thread.

is there are timer function?

if not, Is it right that have to create new task and do like this.

static void Timer_taskFxn(UArg a0, UArg a1)//100ms timer

{

while(1)

{

sleep(100); 

}

}