ESP32

ESP-IDF FreeRTOS is based on the Xtensa port of FreeRTOS v8.2.0, however some functions of FreeRTOS v9.0.0 have been backported. See the Backported Features for more information.

ESP32 FreeRTOS

FreeRTOS Support

jtag_debugging_for_esp32_en.pdf
OpenOCD has explicit support for the ESP-IDF FreeRTOS; FreeRTOS detection can be disabled in esp32.conf. When enabled, gdb can see FreeRTOS tasks as threads. Viewing them all can be done using the gdb i threads command; changing to a certain task is done with thread x, with x being the number of the thread. All threads can be switched to except for a thread actually running on the other CPU; please see the following section ESP32 Quirks for more information

FreeRTOS+Trace

API Reference

xEventGroupWaitBits()