Zephyr RTOS on Toradex System on Modules
Introduction
Quoting from the official Zephyr documentation
The Zephyr OS is based on a small-footprint kernel designed for use on resource-constrained and embedded systems: from simple embedded environmental sensors and LED wearables to sophisticated embedded controllers, smart watches, and IoT wireless applications.
Supported SoMs
In general terms, Zephyr can be an alternative to FreeRTOS. Toradex does not periodically test and validate Zephyr. Nevertheless, Toradex contribution to the Zephyr community can provide a great starting point for your real-time application.
Verdin iMX8M Plus
Check the documentation and basic instructions provided on Zephyr documentation: Supported Boards » ARM Boards » Toradex Verdin iMX8M Plus SoM
Verdin iMX8M Mini
The Verdin iMX8M Mini initial support for Zephyr is still a work in progress, but you can check on the related pull request: boards: arm: add toradex verdin imx8mm board #61047
Colibri iMX7
Check the documentation and basic instructions provided on Zephyr documentation: Supported Boards » ARM Boards » NXP i.MX 7 Computer on Module - Colibri iMX7