VBRAIN is an evolution of Maple platform , we rewrite by scratch all library inside the wirish and libmaple for support STM32F4 micro.
Check our work on www.virtualrobotix.com and try our development enviroment here :
http://code.google.com/p/multipilot32/downloads/list
We develop an enviroment based on Eclipse called Virtual Robotix Ide Pro inside it there are all library for HAL (Libmaple rev stm32f4 ) wirish and AP_LIB (Arducopter - Virtularobotix ) library for develop DIY drones.
Best
Roberto
this is very interesting I will try to test this project this weekend (If some time left after playing with iMX233 I2C)