Hello Kostas,
Unfortunately, there is no example exactly as you needed in the SDK. However, you can take a look to the freertos_i2c example which implements i2c interrupt and you can take as reference for task and interrupt synchronization.
In addition, please have in mind that ISR has higher priority over tasks. Please check the following posts from a colleague as it may be useful for you.
ARM Cortex-M, Interrupts and FreeRTOS: Part 1 | MCU on Eclipse
ARM Cortex-M, Interrupts and FreeRTOS: Part 2 | MCU on Eclipse
ARM Cortex-M Interrupts and FreeRTOS: Part 3 | MCU on Eclipse
Best regards,
Felipe