FreeRTOS+UDP is fully reentrant and thread aware, meaning the IP stack can be safely used by all the RTOS tasks simultaneously. The flexibility does however come with the small time penalty introduced by the message passing and context switching that is necessary to ensure accesses to the IP stack are serialised (happen in a controlled manner so as not to cause corruption).
Data that is received by the embedded Ethernet (or other embedded networking) peripheral is placed into buffers that are pre-allocated by the IP stack. When the user sends a message the message contents are placed in a buffer that is allocated by the IP stack. Different buffer allocation schemes suite different embedded applications. FreeRTOS+UDP currently includes two buffer allocation schemes - each with different trade offs between simplicity, RAM usage efficiency, and performance. The two schemes are described on this page.
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