//We will start by adding header files of FreeRTOS and semaphore
#include <Arduino_FreeRTOS.h>
#include "semphr.h"
//create handle for the mutex. It will be used to reference mutex
SemaphoreHandle_t  xMutex;

void setup()
{
  // Enable serial module of Arduino with 9600 baud rate
  Serial.begin(9600);
// create mutex and assign it a already create handler 
  xMutex = xSemaphoreCreateMutex();
// create two instances of task "OutputTask" which are used to display string on 
// arduino serial monitor. We passed strings as a paramter to these tasks such as ""Task 1 //#####################Task1" and "Task 2 ---------------------Task2". Priority of one //instance is higher than the other
  xTaskCreate(OutputTask,"Printer Task 1", 100,"Task 1 #####################Task1 \r\n",2,NULL);
  xTaskCreate(OutputTask,"Printer Task 2", 100,"Task 2 ---------------------Task2 \r\n",1,NULL);
  xTaskCreate(OutputTask,"Printer Task 2", 100,"Task 3 *********************Task3 \r\n",3,NULL);        
}

// this is a definition of tasks 
void OutputTask(void *pvParameters)
{
  char *pcStringToPrint;
  pcStringToPrint = (char *)pvParameters;
  while(1)
  {
    printer(pcStringToPrint);
    vTaskDelay(pdMS_TO_TICKS(100));
  }
}
// this printer task send data to arduino serial monitor
//aslo it is shared resource between both instances of the tasks
void printer(const char* pcString)
{
  // take mutex
  xSemaphoreTake(xMutex, portMAX_DELAY);
  Serial.println(pcString); // send string to serial monitor
  xSemaphoreGive(xMutex); // release mutex
}
void loop(){}