FreeRTOS has a well structured documentation which you can find online. Some intresting links are listed below.
| Link | Description |
|---|---|
| https://www.freertos.org/RTOS.html | Introduction into the FreeRTOS Kernel. |
| https://www.freertos.org/features.html | Operating principle of the FreeRTOS Kernel, addresses topics such as Tasks, Queues, Semaphores, Mutexes, Software Timers, Memory Management, Stack Overflow Protection, etc. |
| https://www.freertos.org/a00106.html | FreeRTOS API Reference, includes code examples for kernel configuration and FreeRTOS objects (Tasks, Queues, Semaphores, Mutexes, Software Timers, Event Groups, Buffers, etc). |
| https://www.freertos.org/kernel/secondarydocs.html | FreeRTOS Kernel Secondary Docs (Idle Task, Hooks, MPU, Low Power Support, Trace Features, Run Time Stats, concept of Multitasking, Context Switching and Scheduling, etc.). |