I think Marlin is good enough for now, but it may be challenging to add new features and sensors, such as like closed loop control, non-linear accelerations, filament flow rate sensing, and capacitive z-height sensing.
I was looking at the TI Stellaris and other low-cost ARM processors as a platform for some CNC/motion control projects of my own. I'm intrigued by QP is one framework that seems to run on everything from Arduinos and ARMs to Linux and even Android and is free under GPL. It seems like a very elegant architecture to implement complicated real-time embedded applications.
Anyone else looked at this or anything similar?