diff --git a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/build_config.hpp b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/build_config.hpp
index b3bf403594..0160cc662d 100644
--- a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/build_config.hpp
+++ b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/build_config.hpp
@@ -19,6 +19,10 @@
 # define UAVCAN_STM32_BAREMETAL 0
 #endif
 
+#ifndef UAVCAN_STM32_FREERTOS
+# define UAVCAN_STM32_FREERTOS 0
+#endif
+
 /**
  * Number of interfaces must be enabled explicitly
  */
diff --git a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp
index ab7d25cc23..ee18eea0ae 100644
--- a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp
+++ b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp
@@ -17,6 +17,8 @@
 # include <ctime>
 # include <cstring>
 #elif UAVCAN_STM32_BAREMETAL
+#elif UAVCAN_STM32_FREERTOS
+# include <cmsis_os.h>
 #else
 # error "Unknown OS"
 #endif
@@ -136,7 +138,7 @@ public:
         (void)can_driver;
     }
 
-    bool wait(uavcan::MonotonicDuration)
+    bool wait(uavcan::MonotonicDuration duration)
     {
         (void)duration;
         bool lready = ready;
@@ -161,6 +163,42 @@ public:
     void unlock() { }
 };
 
+#elif UAVCAN_STM32_FREERTOS
+
+class BusEvent
+{
+    SemaphoreHandle_t sem_;
+    BaseType_t higher_priority_task_woken;
+
+public:
+    BusEvent(CanDriver& can_driver)
+    {
+        (void)can_driver;
+        sem_ = xSemaphoreCreateBinary();
+    }
+
+    bool wait(uavcan::MonotonicDuration duration);
+
+    void signal();
+
+    void signalFromInterrupt();
+
+    void yieldFromISR();
+};
+
+class Mutex
+{
+    SemaphoreHandle_t mtx_;
+
+public:
+    Mutex(void)
+    {
+        mtx_ = xSemaphoreCreateMutex();
+    }
+    void lock();
+    void unlock();
+};
+
 #endif
 
 
diff --git a/libuavcan_drivers/stm32/driver/src/internal.hpp b/libuavcan_drivers/stm32/driver/src/internal.hpp
index 2bdee57a66..80e3864b06 100644
--- a/libuavcan_drivers/stm32/driver/src/internal.hpp
+++ b/libuavcan_drivers/stm32/driver/src/internal.hpp
@@ -15,6 +15,9 @@
 # include <syslog.h>
 #elif UAVCAN_STM32_BAREMETAL
 # include <chip.h>
+#elif UAVCAN_STM32_FREERTOS
+# include <chip.h>
+# include <cmsis_os.h>
 #else
 # error "Unknown OS"
 #endif
@@ -71,6 +74,15 @@
 # endif
 #endif
 
+#if UAVCAN_STM32_FREERTOS
+/**
+ * Priority mask for timer and CAN interrupts.
+ */
+# ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
+#  define UAVCAN_STM32_IRQ_PRIORITY_MASK  configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY
+# endif
+#endif
+
 /**
  * Glue macros
  */
@@ -122,6 +134,22 @@ struct CriticalSectionLocker
     }
 };
 
+#elif UAVCAN_STM32_FREERTOS
+
+struct CriticalSectionLocker
+{
+
+    CriticalSectionLocker()
+    {
+        taskENTER_CRITICAL();
+    }
+
+    ~CriticalSectionLocker()
+    {
+        taskEXIT_CRITICAL();
+    }
+};
+
 #endif
 
 namespace clock
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index 40a5888725..27a5c24967 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -16,6 +16,7 @@
 # include <arch/board/board.h>
 #elif UAVCAN_STM32_BAREMETAL
 #include <chip.h>
+#elif UAVCAN_STM32_FREERTOS
 #else
 # error "Unknown OS"
 #endif
@@ -200,11 +201,13 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
      * Hardware configuration
      */
 #if UAVCAN_STM32_BAREMETAL
-    const uavcan::uint32_t pclk = STM32_PCLK1_FREQUENCY;
+    const uavcan::uint32_t pclk = STM32_PCLK1;
 #elif UAVCAN_STM32_CHIBIOS
     const uavcan::uint32_t pclk = STM32_PCLK1;
 #elif UAVCAN_STM32_NUTTX
     const uavcan::uint32_t pclk = STM32_PCLK1_FREQUENCY;
+#elif UAVCAN_STM32_FREERTOS
+    const uavcan::uint32_t pclk = HAL_RCC_GetPCLK1Freq();
 #else
 # error "Unknown OS"
 #endif
@@ -454,7 +457,7 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig* filter
 
 bool CanIface::waitMsrINakBitStateChange(bool target_state)
 {
-#if UAVCAN_STM32_NUTTX || UAVCAN_STM32_CHIBIOS
+#if UAVCAN_STM32_NUTTX || UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_FREERTOS
     const unsigned Timeout = 1000;
 #else
     const unsigned Timeout = 2000000;
@@ -471,6 +474,9 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state)
 #endif
 #if UAVCAN_STM32_CHIBIOS
         ::chThdSleep(MS2ST(1));
+#endif
+#if UAVCAN_STM32_FREERTOS
+        ::osDelay(1);
 #endif
     }
     return false;
@@ -617,6 +623,10 @@ void CanIface::handleTxInterrupt(const uavcan::uint64_t utc_usec)
     update_event_.signalFromInterrupt();
 
     pollErrorFlagsFromISR();
+
+    #if UAVCAN_STM32_FREERTOS
+    update_event_.yieldFromISR();
+    #endif
 }
 
 void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t utc_usec)
@@ -680,6 +690,10 @@ void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t ut
     update_event_.signalFromInterrupt();
 
     pollErrorFlagsFromISR();
+
+    #if UAVCAN_STM32_FREERTOS
+    update_event_.yieldFromISR();
+    #endif
 }
 
 void CanIface::pollErrorFlagsFromISR()
@@ -861,16 +875,21 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
 }
 
 
-#if UAVCAN_STM32_BAREMETAL
+#if UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
 
-static void nvicEnableVector(int irq,  uint8_t prio)
+static void nvicEnableVector(IRQn_Type irq,  uint8_t prio)
 {
+    #if !defined (USE_HAL_DRIVER)
       NVIC_InitTypeDef NVIC_InitStructure;
       NVIC_InitStructure.NVIC_IRQChannel = irq;
       NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
       NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
       NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
       NVIC_Init(&NVIC_InitStructure);
+    #else
+      HAL_NVIC_SetPriority(irq, prio, 0);
+      HAL_NVIC_EnableIRQ(irq);
+    #endif
 }
 
 #endif
@@ -923,7 +942,7 @@ void CanDriver::initOnce()
     IRQ_ATTACH(STM32_IRQ_CAN2RX1, can2_irq);
 # endif
 # undef IRQ_ATTACH
-#elif UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
+#elif UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
     {
         CriticalSectionLocker lock;
         nvicEnableVector(CAN1_TX_IRQn,  UAVCAN_STM32_IRQ_PRIORITY_MASK);
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
index 1a04569acc..42a51da079 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
@@ -14,7 +14,7 @@
 /*
  * Timer instance
  */
-# if (UAVCAN_STM32_CHIBIOS && CH_KERNEL_MAJOR == 2) || UAVCAN_STM32_BAREMETAL
+# if (UAVCAN_STM32_CHIBIOS && CH_KERNEL_MAJOR == 2) || UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
 #  define TIMX                    UAVCAN_STM32_GLUE2(TIM, UAVCAN_STM32_TIMER_NUMBER)
 #  define TIMX_IRQn               UAVCAN_STM32_GLUE3(TIM, UAVCAN_STM32_TIMER_NUMBER, _IRQn)
 #  define TIMX_INPUT_CLOCK        STM32_TIMCLK1
@@ -81,16 +81,21 @@ uavcan::uint64_t time_utc = 0;
 
 }
 
-#if UAVCAN_STM32_BAREMETAL
+#if UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
 
-static void nvicEnableVector(int irq,  uint8_t prio)
+static void nvicEnableVector(IRQn_Type irq,  uint8_t prio)
 {
+    #if !defined (USE_HAL_DRIVER)
       NVIC_InitTypeDef NVIC_InitStructure;
       NVIC_InitStructure.NVIC_IRQChannel = irq;
       NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
       NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
       NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
       NVIC_Init(&NVIC_InitStructure);
+    #else
+      HAL_NVIC_SetPriority(irq, prio, 0);
+      HAL_NVIC_EnableIRQ(irq);
+    #endif
 
 }
 
@@ -106,7 +111,7 @@ void init()
     initialized = true;
 
 
-# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
+# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
     // Power-on and reset
     TIMX_RCC_ENR |= TIMX_RCC_ENR_MASK;
     TIMX_RCC_RSTR |=  TIMX_RCC_RSTR_MASK;
@@ -178,7 +183,7 @@ void setUtc(uavcan::UtcTime time)
 
 static uavcan::uint64_t sampleUtcFromCriticalSection()
 {
-# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
+# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
     UAVCAN_ASSERT(initialized);
     UAVCAN_ASSERT(TIMX->DIER & TIM_DIER_UIE);
 
@@ -228,7 +233,7 @@ uavcan::MonotonicTime getMonotonic()
 
         volatile uavcan::uint64_t time = time_mono;
 
-# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
+# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
 
         volatile uavcan::uint32_t cnt = TIMX->CNT;
         if (TIMX->SR & TIM_SR_UIF)
@@ -435,7 +440,7 @@ UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
 
-# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
+# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL || UAVCAN_STM32_FREERTOS
     TIMX->SR = 0;
 # endif
 # if UAVCAN_STM32_NUTTX
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
index 93b8c0a85c..9b9a0d2d79 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
@@ -7,6 +7,7 @@
 #include <uavcan_stm32/can.hpp>
 #include "internal.hpp"
 
+
 namespace uavcan_stm32
 {
 
@@ -79,6 +80,59 @@ void Mutex::unlock()
 # endif
 }
 
+
+#elif UAVCAN_STM32_FREERTOS
+
+bool BusEvent::wait(uavcan::MonotonicDuration duration)
+{
+    static const uavcan::int64_t MaxDelayMSec = 0x000FFFFF;
+
+    const uavcan::int64_t msec = duration.toMSec();
+
+    BaseType_t ret;
+
+    if (msec <= 0)
+    {
+        ret = xSemaphoreTake( sem_, ( TickType_t ) 0 );
+    }
+    else
+    {
+        ret = xSemaphoreTake( sem_, (msec > MaxDelayMSec) ? (MaxDelayMSec/portTICK_RATE_MS) : (msec/portTICK_RATE_MS));
+    }
+    return ret == pdTRUE;
+}
+
+void BusEvent::signal()
+{
+    xSemaphoreGive( sem_ );
+}
+
+void BusEvent::signalFromInterrupt()
+{
+    higher_priority_task_woken = pdFALSE;
+
+    xSemaphoreGiveFromISR( sem_, &higher_priority_task_woken );
+}
+
+void BusEvent::yieldFromISR()
+{
+    portYIELD_FROM_ISR( higher_priority_task_woken );
+}
+
+/*
+ * Mutex
+ */
+void Mutex::lock()
+{
+    xSemaphoreTake( mtx_, portMAX_DELAY );
+}
+
+void Mutex::unlock()
+{
+    xSemaphoreGive( mtx_ );
+}
+
+
 #elif UAVCAN_STM32_NUTTX
 
 const unsigned BusEvent::MaxPollWaiters;