FreeRTOS http://www.freertos.org/
Download last version from http://sourceforge.net/projects/freertos/files/
Here you will find a good tutorial :
http://www.socialledge.com/sjsu/index.php?title=FreeRTOS_Tutorial
An overview of FreeRTOSV8.1.2 :
Creating a new FreeRTOS project
http://www.freertos.org/Creating-a-new-FreeRTOS-project.html
FreeRTOS is designed to be simple and easy to use: Only 3 source files that are common to all RTOS ports, and one microcontroller specific source file are required, and its API is designed to be simple and intuitive.
A “port” is moderately unique and dependent on the processor and tools being used, and hardware platform (evaluation board)
FreeRTOS is ported to many different microcontroller architectures, and many different compilers. Each official port comes with an official demo that (at least at the time of its creation) compiles and executes on the hardware platform on which it was developed without any modification.
The demo projects are provided to ensure new users can get started with FreeRTOS in the quickest possible time, and with the minimum of fuss.
FreeRTOS provide official demo projects that exactly match a tiny fraction of possible combinations.
It is always recommended that a new FreeRTOS project is created by starting with, and then adapting, one of the provided pre-configured demos. Doing this ensures the new project includes all the necessary source and header files, and installs the necessary interrupt service routines, with no effort on the part of the project’s creator.
list of RTOS Port [supported devices] http://www.freertos.org/a00090.html
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Techs it easy 