TMDX570LC43HDK: Variable delay triggering of a task with freeRtos on TMDX570LC43HDK

Part Number:TMDX570LC43HDK

Hy,

in my application based on FreeRTOS I receive a message from the EMAC,

the payload contains an integer representing a time in ms,

if the payload is 5 it means I've to do something after 5ms,

instead if the payload is 10 it means I've to do something after 10ms, and so on,

my question is about the best way to implement this variable triggering of a task using freeRTOS on TMDX570LC43HDK?

Thanks

Antonio