This code demonstrates using RTOS tasks with different priorities

tasks_rtos.cpp

#include <stdio.h>
#include <pthread.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"


void task1()
{
	while (1)
	{
		printf("\033[0;36mEnter task1\033[0m\r\n");
		xSemaphoreTake(xSemaphore, (TickType_t)0);
		TickType_t xLastWakeTime = xTaskGetTickCount();
		printf("\033[0;36m[%05d] Task 1: Start (p:%d)\033[0m\r\n", xLastWakeTime, mainTASK_ONE_PRIORITY);
		fflush(stdout);
		for (size_t i = 0; i < 1800000000; i++)
		{
			__asm__("nop");
		}

		xLastWakeTime = xTaskGetTickCount();
		printf("\033[1;36m[%05d] Task 1: Done\033[0m\r\n", xLastWakeTime);
		vTaskDelay(pdMS_TO_TICKS(200));
	}
}

void task2()
{
	while (1)
	{
		printf("\033[0;36mEnter task2\033[0m\r\n");
		xSemaphoreTake(xSemaphore, (TickType_t)0);
		TickType_t xLastWakeTime = xTaskGetTickCount();
		printf("\033[0;32m[%05d] Task 2: Semaphore Taken (p:%d)\033[0m\r\n", xLastWakeTime, mainTASK_TWO_PRIORITY);
		fflush(stdout);
		for (size_t i = 0; i < 15000000; i++)
		{
			__asm__("nop");
		}

		xLastWakeTime = xTaskGetTickCount();
		printf("\033[1;32m[%05d] Task 2: Done\033[0m\r\n", xLastWakeTime);
		fflush(stdout);
		vTaskDelay(pdMS_TO_TICKS(1000));
	}
}

/*** SEE THE COMMENTS AT THE TOP OF THIS FILE ***/
void main_blinky(void)
{
	xSemaphore = xSemaphoreCreateBinary();

	
	xTaskCreate(
		task1,
		"Task1",
		configMINIMAL_STACK_SIZE,
		NULL,
		mainTASK_ONE_PRIORITY,
		NULL);

	xTaskCreate(
		task2,
		"Task2",
		configMINIMAL_STACK_SIZE,
		NULL,
		mainTASK_TWO_PRIORITY,
		NULL);

	vTaskStartScheduler();
	/* If all is well, the scheduler will now be running, and the following
	line will never be reached.  If the following line does execute, then
	there was insufficient FreeRTOS heap memory available for the idle and/or
	timer tasks	to be created.  See the memory management section on the
	FreeRTOS web site for more details. */
	for (;;)
		;
}