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AWR2944: The different between freertos and safertos

Part Number: AWR2944

Hi Expert

As the folder in 'C:\ti\mmwave_mcuplus_sdk_04_02_00_03\mcu_plus_sdk_awr294x_08_02_00_25\source\kernel' we find that there are freertos and safertos, what's the different between these two RTOS? And is there doc to describe it?

Thanks