I was able to boot freertos on a pocketbeagle by using the following.
1: The port of freertos by dumpram to the beaglebone black. This is on github at https://github.com/dumpram/beaglertos
Note that this port using TI’s starterware. I only needed to change some hardcoded file pointers in the makefile.
2: Built a version of MLO that works on the pocketbeagle.
3: Created a SD CARD (4GB) with a Fat file system Put files MLO and APP on the micro card.
I am in process of updating the version of freertos to the latest version. I am also updating to the latest starterware and third party code.
If anyone else is interested in using this, once I have completed the updates I can put this all on Github.