Well, I recently found the Cortex-M SoCs to be a blessing in that regard: no MMU, no need to run a fully fledged operating system, but still with LwIP, FreeRTOS&friends, they can handle surprisingly complex software tasks, while the lack of MMU and privilege-separation means that all the hardware: DMA-engines, communication interfaces and accelerator facilities (2-D GPU) are right at the tip of your hands.