Most new FreeRTOS users overuse queues. A good PDF will dedicate a chapter to Task Notifications .
: FreeRTOS allows you to run multiple independent tasks (threads) by switching between them based on priority. The xTaskCreate function is used to initialize these tasks. Scheduling
Download the official “Mastering the FreeRTOS Real Time Kernel” PDF. Print the first 50 pages. Build the “hello world” of RTOS: two tasks that pass a counter via a queue. Then, and only then, start your real-time project.