[Michael Becker] has been using FreeRTOS for about seven years ... A large number of examples don’t hurt either. The library is clean with just under 30 classes. It seems to have resisted ...

For example, UART, CAN (Controller Area Network), and RS-485. We have FreeRTOS with STM32 ecosystem packages (Hardware Abstraction Layer and other libraries). We have created a separate FreeRTOS task ...