In this chapter, we've covered three different APIs that can be used with FreeRTOS – the native FreeRTOS API, CMSIS-RTOS, and POSIX. You should now be familiar with all of the different APIs available for interacting with FreeRTOS and have an understanding of why they exist, as well as an understanding of when it is appropriate to use each one. Moving forward, you will be well positioned to make informed decisions about which API to use, depending on your particular project's requirements.

In the next chapter, we'll switch gears from discussing how to interact with FreeRTOS at a high level and discuss some of the low-level details of memory allocation.