FreeRTOS is a real-time operating system distributed freely under the MIT license with a growing set of IoT libraries for embedded devices and has been ported to 35 microcontroller platforms.
Included with release 0.9.3 of px-lib is a complete FreeRTOS blinking LED example for the PX-HER0 board. The doc page is HERE.
The example is instrumented for Segger SystemView to give amazing graphical insight in the working of the RTOS kernel and your tasks. Segger SystemView requires a J-Link Debug Probe e.g. J-Link EDU Mini to download the real-time data, but if you don’t have one handy, don’t fret. You can still use the Segger SystemView GUI to open and view the captured log file (download HERE).