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Assumes you are running Ubuntu 14.04 LTS
Open a terminal:
$ sudo apt-get install git $ sudo apt-get install gcc-arm-none-eabi
$ mkdir projects $ cd projects/ $ mkdir freertos-dev $ cd freertos-dev/ $ git clone https://github.com/SatelliteCore/RaspberryPi-FreeRTOS.git
$ make
Take a look in the same directory for a kernel.img file. You can copy it to a SD card with Raspbian already on it, replacing the existing kernel.mg.