Hey @epopov, hope you’re doing well
I’m not aware of if any port exists for that SOC. Does that dev kit require the use of the TI compiler? If so there are Code Composer Studio (CCS) compatible ports for the Cortex-M4F and R4. The R4 port should be compatible with the R5.
I believe that this older thread about SMP for the R5 and then the guide for FreeRTOS SMP would probably be good places to start.
If you end up creating a port for the Sitara AM234x SoC we’d greatly appreciate it if you up-streamed it to the FreeRTOS-Kernel repo 