Juliandasilva have you ever given any thought to porting FreeRTOS to an Arduino compatible ARM processor like The Maple?
There are plenty of hardware resources available and The Maple has four timers. Plus, it has a SysTick peripheral that is associated millis() and delay() functions are another simple way to perform periodic or delayed events. This separate timer does not conflict with any other peripherals
Board Cost $28 NCC Amazon $50 Leaflabs
Flash 30KB 108KB
Ram 2KB 17KB
EEPROM 1KB N/A
Clock 16MHz 72MHz <~ 4.5 faster instruction execution than Arduino>
Voltage 5 VDC 3.3 VDC
I2C 1 Hardware Port 2 Hardware Ports
SPI 1 Hardware Port 2 Hardware Ports
Serial 1 Hardware Port 3 Hardware Ports
I/O 14 39
PWM 6 <8 Bit> 15 <16 Bit> <Both subtracts from I/O count>
Analog IN 6 <10 Bit> 16 <12 Bit> <Both subtracts from I/O count>
Ext. Interrupts 2 15 Rising/Falling
Arduino Inst. Comp. N/A Yes <Most instructions. See Maple's language link>
Notes: There are 18 5 VDC tollerant I/O pins and 20 which are not (3.3 VDC only).
There are a total of 38 I/O pins which can have the external "attachinterrupt();" assigned to them.
"The Maple is the high performance Arduino"