Overdue

A data acquisition task runs on FreeRTOS, sampling a sensor at a fixed 50ms cadence using vTaskDelayUntil. Each iteration runs a processing routine that filters and averages the raw data before the next period.

The firmware compiles and runs. All five iterations execute, but the task reports STATUS:DRIFT instead of STATUS:OK. The processing is taking longer than the period allows, and vTaskDelayUntil returns immediately when its wake time has already passed.

When the task meets every deadline, the run prints one "ITER:<n>" line per iteration (1 through 5), a missed-deadline count of zero, STATUS:OK, and DONE.

Find and fix the timing problem so the task completes within its period budget on every iteration.