I'm considering using an i.MX 6 UltraLite in a small realtime system and USB device mode is a requirement. I'd like to use FreeRTOS rather than Linux (because of the realtime requirement) but I can't find a USB device driver for it. Is there a FreeRTOS driver for a similar ARM part that I could adapt, or could I adapt the linux USB driver for use with FreeRTOS? Other suggestions? Thx.