Hi,
I have worked on FreeRTOS, and ported on PIC32, LPC, STM32 micro-controller based platforms. As FreeRTOS doesn't have device driver framework, I have developed device drivers I2C, SPI, USART, TIMER, CAN, RS485, USB device and host and integrated to FreeRTOS, with development of test applications to thoroughly test driver functionalists.
Please let me know when can we discuss, I will be happy to sign NDA. I can be reached at shrikrishnab at SKYPE.
Anakin.