RTOS or Bare Metal?

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http://stackoverflow.com – We are planning on starting a new project using an Altera's FGPA with a hard core ARM Cortex A9 dual core in it (Cyclone V SoC) The most important stuff for my development is multi-threading and USB communication. I've been scavenging Altera's documentation to get educated on the subject, but what I'm really looking to get here is personal experiences with this specific platform. Do I really need an RTOS? What about a very light OS that enables multi-thread balanced across the cores in symmetrical fashion? If I go bare metal, I'm concerned I'm gonna spend too much time developing drivers f (HowTos)