I've ported FreeRTOS to PSoC 4 - which really was extremely trivial. It's simply the Cortex M0 port with some configuration & glue from the PSoC 5 demo.
The attached demo app creates three tasks that toggle the red, green and blue LEDs on the PSoC 4 pioneer board at slightly different rates, resulting in a pleasing (if somewhat psychedelic) light show. Adapting this demo for your own purposes should be straightforward.
Note that because the PSoC Capsense component makes (undocumented) use of the systick timer, it's not currently possible to use FreeRTOS and the PSoC Capsense component together.