platform GCC LLVM IAR Keil SDCC mikro microcontroller Rowley CrossWorks Microcontrollers and compiler tool chains supported by FreeRTOS

 https://www.freertos.org/zh-cn-cmn-s/RTOS_ports.html

ultra wideband positioning Motion Accelerometers Gyroscopes Compass Vibration Sensors mmwave radar

 ultra wideband
positioning
Motion
Accelerometers
Gyroscopes
Compass  
Vibration
Sensors
mmwave radar
https://www.allaboutcircuits.com/latest/sensors/