for( ul = 0; ul < 4000L; ul++ ) {}

short main( void ) {....}

#include "FreeRTOS.h"
#include "task.h"

void vTask1( void *pvParameters )
{
  volatile unsigned long ul;
  for(;; )
  {
    PORTC ^= (1 << PC0);
    for( ul = 0; ul < 4000L; ul++ )
   {
   }
  }
  vTaskDelete( NULL );
}
void vTask2( void *pvParameters )
{
  volatile unsigned long ul;
  for(;; )
  {
    PORTC ^= (1 << PC1);
    for( ul = 0; ul < 8000L; ul++ )
   {
   }
  }
  vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/
int main( void )
{
  DDRC |= (1 << DDC0) | (1 << DDC1);
  xTaskCreate( vTask1,  (signed char *) "Task1",  configMINIMAL_STACK_SIZE,   NULL,  1,   NULL );
  xTaskCreate( vTask2,  (signed char *) "Task2",  configMINIMAL_STACK_SIZE,  NULL, 1,   NULL );
  vTaskStartScheduler();
  return 0;
}

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

#include <avr/io.h>

#define configUSE_PREEMPTION        1
#define configUSE_IDLE_HOOK        0//Отключаю vApplicationIdleHook()
#define configUSE_TICK_HOOK        0
#define configCPU_CLOCK_HZ        ( ( unsigned long ) 8000000 )
#define configTICK_RATE_HZ        ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES        ( ( unsigned portBASE_TYPE ) 4 )
#define configMINIMAL_STACK_SIZE    ( ( unsigned short ) 85 )
#define configTOTAL_HEAP_SIZE        ( (size_t ) ( 1500 ) )
#define configMAX_TASK_NAME_LEN    ( 8 )
#define configUSE_TRACE_FACILITY    0
#define configUSE_16_BIT_TICKS    1
#define configIDLE_SHOULD_YIELD    1
#define configQUEUE_REGISTRY_SIZE     0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES         1
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet        0
#define INCLUDE_uxTaskPriorityGet        0
#define INCLUDE_vTaskDelete            1
#define INCLUDE_vTaskCleanUpResources    0
#define INCLUDE_vTaskSuspend            0
#define INCLUDE_vTaskDelayUntil        1
#define INCLUDE_vTaskDelay            1


#endif /* FREERTOS_CONFIG_H */

#define configUSE_PREEMPTION        1
#define configUSE_IDLE_HOOK        0//Отключаю vApplicationIdleHook()
#define configUSE_TICK_HOOK        0
#define configCPU_CLOCK_HZ        ( ( unsigned long ) 8000000 )
#define configTICK_RATE_HZ        ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES        ( ( unsigned portBASE_TYPE ) 4 )
#define configMINIMAL_STACK_SIZE    ( ( unsigned short ) 85 )
#define configTOTAL_HEAP_SIZE        ( (size_t ) ( 1500 ) )
#define configMAX_TASK_NAME_LEN    ( 8 )
#define configUSE_TRACE_FACILITY    0
#define configUSE_16_BIT_TICKS    1
#define configIDLE_SHOULD_YIELD    0 //*******************
#define configQUEUE_REGISTRY_SIZE     0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES         0//*******************
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet        0
#define INCLUDE_uxTaskPriorityGet        0
#define INCLUDE_vTaskDelete            0 //*******************
#define INCLUDE_vTaskCleanUpResources    0
#define INCLUDE_vTaskSuspend            0
#define INCLUDE_vTaskDelayUntil        0 //*******************
#define INCLUDE_vTaskDelay            0//*******************

for( ul = 0; ul < 80000L; ul++ )
for( uq = 0; uq < 40000L; uq++ )

taskENTER_CRITICAL();
PORTC ^= (1 << PC0);
taskEXIT_CRITICAL();
...
taskENTER_CRITICAL();
PORTC ^= (1 << PC1);
taskEXIT_CRITICAL();

#include <avr/io.h>
#include <avr/iom128.h>

#ifdef GCC_MEGA_AVR
    /* EEPROM routines used only with the WinAVR compiler. */
    #include <avr/eeprom.h>
#endif

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"

/* Priority definitions for most of the tasks in the demo application.  Some
tasks just use the idle priority. */

#define TASK1_PRIORITY            ( tskIDLE_PRIORITY + 1 )
#define TASK2_PRIORITY            ( tskIDLE_PRIORITY + 1 )

/* ---------------------------------------------------------------------- */
void vTask1( void *pvParameters );
void vTask2( void *pvParameters );
/* ---------------------------------------------------------------------- */

/* ---------------------------------------------------------------------- */
/* Функция задачи 1 */
void vTask1(void *pvParameters)
{
( void ) pvParameters;
volatile unsigned long ul;
for(;;)
    {

    PORTB^=(1<<PB0);
    for(ul=0; ul<4000L; ul++)
        {
        }
    }
vTaskDelete(NULL);
}
/* ---------------------------------------------------------------------- */
/* Функция задачи 2 */

void vTask2(void *pvParameters)
{
( void ) pvParameters;
volatile unsigned long ul;
for(;;)
{
    PORTB^=(1<<PB1);
    for(ul=0; ul<8000L; ul++)
    {
    }
}
vTaskDelete(NULL);
}
/* ---------------------------------------------------------------------- */

int main( void )
{
    DDRB|=(1<<DDB0)|(1<<DDB1);


    /* Создать задачу 1. */
    xTaskCreate( vTask1, ( signed char * ) "Task1", configMINIMAL_STACK_SIZE, NULL, TASK1_PRIORITY, NULL );

    /* Создать задачу 2. */
    xTaskCreate( vTask2, ( signed char * ) "Task2", configMINIMAL_STACK_SIZE, NULL, TASK2_PRIORITY, NULL );
    
    /* Запустить планировщик. Задачи начнут выполняться. */
    vTaskStartScheduler();

    return 0;
}
/*-----------------------------------------------------------*/

D:\library\Pinboard\temp_Ci\FreeRTOSV7.1.1\Project\AVR_ATMega32_KURN_2\./FreeRTOSConfig.h:88:9: error: macro names must be identifiers
D:\library\Pinboard\temp_Ci\FreeRTOSV7.1.1\Project\AVR_ATMega32_KURN_2\..\..\Source\include/FreeRTOS.h:137:3: error: #error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the
../AVR_ATMega32_KURN_2.c:22:10: error: 'string' undeclared (first use in this function)
../AVR_ATMega32_KURN_2.c:24:25: error: 'gt' undeclared (first use in this function)

Error! E2028: vTaskStartTrace_ is an undefined reference
Error! E2028: ulTaskEndTrace_ is an undefined reference