When using an operating system, the scheduler takes over the aspect of concurrency for developers by switching between different tasks back and forth. This method delivers great prospects for developers, since it abstracts many challenges the bare-metal approach possesses by modular, priority based scheduling and simplifying timing requirements.
In a bachelor thesis with the tile: “Evaluation of Concurrent Task Execution in FreeRTOS on a Cortex M4F Architecture”, Mr. Witte determined concurrency aspects of FreeRTOS on a netX 90 device. In the following chapters, the thesis' results are further discussed.