FreeRTOS and others have already been ported to RPi: [http://www.osrtos.com/rtos/freertos http://www.osrtos.com/rtos/freertos] [http://www.stevebate.net/chibio

FreeRTOS and others have already been ported to RPi: [http://www.osrtos.com/rtos/freertos http://www.osrtos.com/rtos/freertos] [http://www.stevebate.net/chibios-rpi/GettingStarted.html http://www.stevebate.net/chibios-rpi/GettingStarted.html]