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This is a subsection of the full FAQ
How are tasks of equal priority scheduled?
How are tasks that share the idle priority scheduled?
Round robin - Ready state tasks that share a priority "take turns" to run.
As per tasks that share any other priority. However, the
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.
FreeRTOS kernel V10 is available for immediate download.
Now MIT licensed.