FreeRTOS FAQ page about FreeRTOS scheduling - in particular round robin scheduling of real time tasks of equal priority

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FreeRTOS FAQ - Scheduling

How are tasks of equal priority scheduled?
How are tasks that share the idle priority scheduled?

How are tasks of equal priority scheduled?

Round robin - ready tasks of equal priority "take turns".

How are tasks that share the idle priority scheduled?

As per tasks that share any other priority. However, the configIDLE_SHOULD_YIELD configuration constant can be used to force the idle task to yield after a single iteration of its loop if other idle priority application tasks are able to run.

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