FreeRTOS Features: Large and growing user base and community. Free RTOS kernel - preemptive, cooperative and hybrid configuration options. Designed to be small, simple and easy to use. Queues, binary semaphores, counting semaphores, recursive semaphores and mutexes. Mutexes with priority inheritance. Tutorial books and training to educate engineers.
Each task is assigned a priority from 0 to ( configMAX_PRIORITIES - 1 ), where configMAX_PRIORITIES is defined within FreeRTOSConfig.h and can be set on an application by application basis.Low priority numbers denote low priority tasks. The idle task has priority zero (tskIDLE_PRIORITY).