I have taken the OS-less path, since I only need a few real time 
functions, and TCP/IP.

Uip can quite easily be ported to the STM32F4Discovery, and the 
"applications" in
UIP behave more or less as if they had been separate "tasks", due to the 
IP stack design.

The main drawback is burning all idle cpu cycles in a tight main loop, 
so function dispatching
is really done "manually". Only problem I have had is the actual AD / 
DA, where I am getting too much "noise" due to the
AD implementation (for my liking).

G

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