#ifdef ESP32
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#define TASK_STACK_SIZE (4096)
#else
#include <Arduino_FreeRTOS.h>
#define TASK_STACK_SIZE (128)
#endif 

#define NUM_TASKS     (2)
#define TASK_PRIORITY (1)

const char       *TASK_NAMES[]  = {"T0","T1"};
const uint32_t    LED_PINS[]    = {2,4};
TaskHandle_t      taskHandles[ NUM_TASKS ];

void task(void *parameter) {
  uint32_t id = (uint32_t)parameter;
  uint32_t state = 0;
  pinMode( LED_PINS[id], OUTPUT );
  while (1) {
    digitalWrite( LED_PINS[id], state ^=1 );
    taskYIELD();
  }
}

void setup() {
  Serial.begin(115200);
  for (uint32_t i=0; i < NUM_TASKS; i++) {
    xTaskCreate(task,TASK_NAMES[i], TASK_STACK_SIZE, (void*)i, 
                TASK_PRIORITY, &taskHandles[i] );
  }
}

void loop() {}