FreeRTOS on LiteX: an RTOS in a few hundred lines of glue
FreeRTOS V11.3.0 on a LiteX VexRiscv SoC: unmodified upstream kernel, a thin LiteX-side port (timer0 tick, IRQ dispatch, UART stream buffer), a two-phase litex_sim harness that iterates in seconds, and the same firmware.bin on an Arty A7.