All I can tell you, and I don't know if it suffices, is that you call
sys_check_timeouts();
in your main loop and all timing is done.
Check your lwipopts.h for the number of timers if using dhcp, dns, etc.
Should you need to use a timer for your own purposes:
static void myfunction(something *myarg);
sys_timeout(SEND_TIME, (sys_timeout_handler) myfunction, myarg);
// callback gets called back on timeout;
sys_untimeout((sys_timeout_handler) myfunction, myarg);
// timer removed
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