I just searched the web for "Using the FreeRTOS Real Time Kernel - A Practical Guide - Cortex-M3 Edition.pdf". If you will do that I am sure that you will find discobots SVN repository and very helpful readme.txt file.
Look into this 1.3MB book. It covers all subjects in with very easy examples. For me it is more like a guide than book. It looks like written by the programmer
.In about an hour you know much about FreeRTOS and you are ready to start your experiments.I would love to see something similar for a great ChibiOS.
Thanks,
Arthur.