<p><b>@bergzand</b> commented on this pull request.</p>

<hr>

<p>In <a href="https://github.com/RIOT-OS/RIOT/pull/11874#discussion_r321653989">sys/include/ztimer.h</a>:</p>
<pre style='color:#555'>> + *
+ * @c last_wakeup should be set to ztimer_now(@p ztimer) before first call of the
+ * function.
+ *
+ * If the time (@p last_wakeup + @p period) has already passed, the function
+ * sets @p last_wakeup to @p last_wakeup + @p period and returns immediately.
+ *
+ * @param[in]   ztimer          ztimer clock to operate on
+ * @param[in]   last_wakeup     base time stamp for the wakeup
+ * @param[in]   period          time in ticks that will be added to @p last_wakeup
+ */
+void ztimer_periodic_wakeup(ztimer_dev_t *ztimer, uint32_t *last_wakeup,
+                            uint32_t period);
+
+/**
+ * @brief   Put the calling thread to sleep for the specified number of ticks
</pre>
<p>Probably also valid for the other functions: This probably doesn't sleep exactly the number of ticks (or seconds) on every platform. Does this sleep at least <code>ticks</code> or at most <code>ticks</code>. Furthermore, is there a way to get the other behaviour, for example, sleep at least $duration to allow for a peripheral to initialize or sleep at most $duration to not miss a deadline.</p>

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