Hi Mohamed,
There are MQX and FreeRTOS BSPs from NXP for i.MX processors, but just for those that have M4 core, like the i.MX6SX and i.MX7. If you are looking for an RTOS to run on the i.MX6Q of the Udoo board, you could take a look at the following link:
https://www.udoo.org/forum/threads/need-an-rtos.1708/
Hope this will be useful for you.
Best regards!
/Carlos
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