Integrating bare-metal code with RTOS task

Hello, I am new to FreeRTOS, and have some question with respect to integrating FreeRTOS tasks with bare-metal program. I have application where i would like to acquire data from sensor outside freeRtos everytime interrupt occurs from hardware.
1) Is it possible to switch between FreeRTos task and bare-metal application based on interrupt frequency once scheduler is started ? 2) If so, then can i populate queues and give semaphore when the required amount of data is collected in bare metal code to wake up a task to process acquired data ? Any suggestion is much appreciated, Regards Query1920