Hi, Bryan,
Yes, it is okay to get the freeRTOS+TCP/UDP with PMSM FOC reference design base on KV5x.
You can download the SDK2.0 based on KV5x from the website:
Welcome to Kinetis Expert | Kinetis Expert
after you download SDK, you can see the LWIP example code in the directory:
C:\DriverE\Freescale\KSDK1.2.0_KV5xF_1.0.0\examples\twrkv58f220m\demo_apps\lwip
each LWIP example includes two version:bare mental and FreeRTOS, you can use the example as platform and add the PMSM code, it is okay.
For the PMSM code based on FOC, you can download it from website:
3-Phase PMSM Motor Control Reference Design|NXP
Hope it can help you.
BR
Xiangjun Rong