Amy Ransohoff’s Reviews > Beginning STM32: Developing with FreeRTOS, libopencm3 and GCC > Status Update

This seems like a nice introduction to using microcontrollers in a modern context using open and widely-available tools. It is difficult to find good resources for moving past the limiting Arduino tools which don't involve proprietary and often Windows-only tools.

This book uses GCC and an open-source STM32 programmer/debugger to teach about both FreeRTOS and the 'libopencm3' Cortex-M HAL, which looks promising.