Esp32 bare metal programming for custom functions and libraries using register addresses

[Vinay Raghava]

Hello, Can someone please help me with bare metal programming an esp32. I'm working on developing my own delay function. The agenda is not to use the freeRTOs or the commands generally used from esp-idf. I'm trying to write the commands directly into the registers than to use the arduino framework.
I'm still using the arduino ide platform to check and verify my codes.
I wanna use the non-blocking delay method with hardware timers and interrupts specified in the technical reference manual V5.4 by espressif.
Would appreciate any advice and help.