I need to write code using multithreading with FreeRTOS. In addition to the tasks, you can have ISRs, normal functions, and extra threads if you choose to$.$ Furthermore, you MUST use at least one semaphore $($for synchronisation$)$ and one mutex $($for shared resources$).$to build the program using a minimum of $5$ threads $($tasks$).$ You are free to choose the job associated with each thread.