https://www.freertos.org/implementation/a00002.html https://www.freertos.org/implementation/a00002.html Generally, having experience with Greenhills in a previ

https://www.freertos.org/implementation/a00002.html https://www.freertos.org/implementation/a00002.html Generally, having experience with Greenhills in a previous job, for personal projects like robotics or control systems I would recommend programming a microcontroller directly rather than dealing with SoC with RTOS. Modern STM32s with Cortex chips have enough processing power to run pretty much anything.