FreeRTOS & CMSIS (C++)

#include "FreeRTOS.h"
#include "task.h"
#include <cstdio>
#include <cstdlib>

static void blinker(void* arg) {
    const char* name = static_cast<const char*>(arg);
    for (int i = 0; i < 3; ++i) {
        std::printf("tick %3lu: %s\n", (unsigned long)xTaskGetTickCount(), name);
        vTaskDelay(pdMS_TO_TICKS(name[0] == 'f' ? 10 : 25));  // Blocked: costs no CPU
    }
    if (name[0] == 's') std::exit(0);  // end the program (semihosting)
    vTaskDelete(nullptr);              // a task function must never return
}

int main() {
    xTaskCreate(blinker, "fast", 512, (void*)"fast", 1, nullptr);  // 512 words of stack
    xTaskCreate(blinker, "slow", 512, (void*)"slow", 1, nullptr);
    vTaskStartScheduler();  // never returns while the scheduler runs
}