Micrium recently released their uC/OS for Makers to use for free. uC/OS supports a wide range of micro-controllers, including MSP430, MSP432, C28x, Hercules RM and Hercules TMS570 controllers from TI. The Maker version excludes the CAN module, Building Blocks and the Graphical UI library. However, it does come with USB, TCP/IP and file system stacks.
You have to register to request a copy of your uC/OS.
A Maker License allows qualified startups, educational institutions, and home users to embed the Micrium RTOS into their projects. Contact us for specifics about eligibility.
Another alternative is TI-RTOS, which supports a wider range of TI silicon.