FreeRTOS

BaseType_t xTaskCreate(TaskFunction_t pvTaskCode,
                         const char * const pcName,
                         uint16_t usStackDepth,
                         void *pvParameters,
                         UBaseType_t uxPriority,
                         TaskHandle_t *pxCreatedTask)

Arduino Libaries

• https://github.com/feilipu/Arduino_FreeRTOS_Library

ESP32

• https://savjee.be/2020/01/multitasking-esp32-arduino-freertos/

Reference

• https://www.sohu.com/a/319828471_100281310