Hi,
We have ported freeRTOS v10.0.1 to MPC5604B.
Link to the project:
https://github.com/pradeepmcp/freeRTOS_MPC5604b_port
Please refer the README file for all the details on how to start.
Please feel free to contact for any help. We are not working on it full time on this, but will try our best.
Regards,
Pradeep M C