Just an information that you can download SDK_2.3.1_MK22FX512XXX12 from http://mcuxpresso.nxp.com/
There are rtos examples in the foler
SDK_2.3.1_MK22FX512xxx12\boards\twrk21f120m\rtos_examples
supported IDE includes, MCUXpresso, IAR, Keil,
Regards
Daniel