Of course there is - thousands of 'em!

The thing with much embedded stuff, though, is that it needs to be very specific to your particular requirements, hardware, constraints, etc - so it's very unlikely that anything "ready made" will be an exact fit.

The amount of effort it takes to understand this stuff in sufficient detail to adapt it to your specific needs is often comparable to the effort it would have taken to properly understand the problem and solve it yourself.

Similarly, there is good stuff out there, and a load of complete rubbish - again, studying it sufficiently to tell the difference is often as much work as doing it from scratch!

And then there may be licensing issues...