What UPnP/DLNA SDK (if any) would Zip recommend?

I'd like to try writing my own control point software, so I can do demonstrations of the tags I want displayed the way I want them.... 
What could you suggest as a suitable choice for an SDK?
My main concern is time-to-first-working-implementation, so I can get to the interesting bits quickly, and I want to be able to produce for Android and iphoneos 3, i e for OLDER iPod/iPhone models, 1st gen.
Because that's the iPods /iPhones I have.

What could you suggest as a suitable choice for an SDK?
My main concern is time-to-first-working-implementation, so I can get to the interesting bits quickly, and I want to be able to produce for Android and iphoneos 3, i e for OLDER iPod/iPhone models, 1st gen.
Because that's the iPods /iPhones I have.