V prvom kroku si nainštalujem FreeRTOS knižnicu do Arduina:

Sketch -> Include Library -> Manage Libraries

Zapojíme si naše arduino nano podľa obrázka nižšie:

Kód v cpp:

#include <Arduino_FreeRTOS.h>

void setup()
{
  xTaskCreate(
    TaskBlink
    ,  (const portCHAR *)"Blink" 
    ,  128  // Stack size
    ,  NULL
    ,  2  // priority
    ,  NULL );

  xTaskCreate(
    TaskBlink2
    ,  (const portCHAR *)"Blink2"
    ,  128  // Stack size
    ,  NULL
    ,  2  // priority
    ,  NULL );

}

void loop()
{
  

}
void TaskBlink2(void *pvParameters)  // This is a task.
{
  (void) pvParameters;

 
  pinMode(3, OUTPUT);

  for (;;) 
  {
    digitalWrite(3, HIGH);   // turn the LED on (HIGH is the voltage level)
    vTaskDelay( 300 / portTICK_PERIOD_MS ); // wait for one second
    digitalWrite(3, LOW);    // turn the LED off by making the voltage LOW
    vTaskDelay( 300 / portTICK_PERIOD_MS ); // wait for one second
  }
}
void TaskBlink(void *pvParameters)  // This is a task.
{
  (void) pvParameters;
 
  pinMode(2, OUTPUT);

  for (;;) 
  {
    digitalWrite(2, HIGH);   // turn the LED on (HIGH is the voltage level)
    vTaskDelay( 1000 / portTICK_PERIOD_MS ); // wait for one second
    digitalWrite(2, LOW);    // turn the LED off by making the voltage LOW
    vTaskDelay( 1000 / portTICK_PERIOD_MS ); // wait for one second
  }
}