I want to know how to calculate the amount of used memory heap allocated to the FreeRTOS in order to check if I reached its limit or not. For example I created 3 tasks, 10 Queues, 2 binary semaphores. Task Name Len 16, Minimal stack size 70.

Call xPortGetFreeHeapSize(), create your tasks queues semaphores etc. then call xPortGetFreeHeapSize() again to find the difference. http://www.freertos.org/a00111.html

Actually, there’s also xPortGetMinimumEverFreeHeapSize() but only when using heap4