Hi,
If you refer to the “Software and Tools” tab of i.MX287 webpage, you can find some RTOS options like MQX, Nucleus and QNX; however, FreeRTOS is not available.
According with FreeRTOS webpage, i.MX28 is not listed on the Freescale supported devices; however, the RTOS for ARM9 could be adapted for the i.MX287.
There are other options for the migration, like third parties services (here is an example):
Hope this will be useful for you.
Best regards!
/Carlos
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