It is not a matter of "compatibility" but doing things right or wrong,
you either do things the right way or you violate the rules of your
working environment.
If you are suspicious on printf(), then don't use it, your port should
have the correct output function and you should be able to ask about
this on your RTOS forums.
As for lwIP, the output function is defined as
LWIP_PLATFORM_DIAG(message);
and that function belongs to your port, and it should be defined in
arch/cc.h by the ones who did it (Atmel ?, the FreeRTOS guys ?); the
exact location of that file depends on their choice.
Furthermore, now you say you are using an RTOS... You must check your
port is not violating the single-threading rules, exactly which HTTP
server code are you using ? With which API ? Is it lwIP original code ?
Is it vendor modified ? Which lwIP version ?
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