I’ve added the FreeRTOS framework but I don’t know which port I have to use. I tried different ones, but all gave an error. My guess was to use the GCC->ARM_CM4_MPU. Then there are compiler errors: http://imgur.com/jMaVOk8
If that part has a floating point unit then use the port layer in
FreeRTOS/Source/portable/GCC/ARM_CM4F, otherwise use the port layer in
FreeRTOS/Source/portable/GCC/ARM_CM3 (even though it is an M4 part).
From the screenshot you provided I can see that you are not using the
correct compiler settings. If you tell the compiler you don’t have a
floating point unit then it will not allow floating point instructions.
Double check the compiler settings to ensure you both specify that
hardware floating point is present, and which hardware floating point
unit the device has - these must be on the command line sent to the
compiler.