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Have you looked at uLisp? Or perhaps Mezzano? The latter doesn't run on bare metal yet, but does have arm64 support.
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I've spent a fair bit of time around microcontrollers recently. But the idea of starting from scratch has stuck with me a bit, my early play with an Arduino was trying to emulate an old machine : https://github.com/danja/dog (rubbish code - I had no idea how to do concurrency)
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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
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pil21-bare-metal
Discontinued PicoLisp is an open source Lisp dialect. It is based on LLVM and compiles and runs on any 64-bit POSIX system. Its most prominent features are simplicity and minimalism.
There's also https://github.com/Seteeri/pil21-bare-metal
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lisp
A mini Lisp in 1k lines of C with garbage collector, explained. Includes over 40 built-in Lisp primitives, floating point, strings, closures with lexical scope, macros, proper tail recursion, exceptions, execution tracing, file loading, a mark-sweep/compacting garbage collector and REPL. (by Robert-van-Engelen)
Lately, we run Robert van Engelen's 1k Lisp on ESP32 and 8266 boards: https://github.com/Robert-van-Engelen/lisp but we started on his tiny Lisp: https://github.com/Robert-van-Engelen/tinylisp (which is 99 lines of C)
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tinylisp
Lisp in 99 lines of C and how to write one yourself. Includes 20 Lisp primitives, garbage collection and REPL. Includes tail-call optimized versions for speed and reduced memory use.
Lately, we run Robert van Engelen's 1k Lisp on ESP32 and 8266 boards: https://github.com/Robert-van-Engelen/lisp but we started on his tiny Lisp: https://github.com/Robert-van-Engelen/tinylisp (which is 99 lines of C)
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ribbit
A small and portable Scheme implementation with AOT and incremental compilers that fits in 4K. It supports closures, tail calls, first-class continuations and a REPL.
Marc Feeley's lab develops Ribbit Scheme, which is a tiny Scheme implementation. It is an AOT compile which produces a string of bytecode that is interpreted by a VM, of which there are various implementations. The one in C could be compiled to your target microcontroller and thus give you a Scheme REPL.
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lispBM
An interpreter for a concurrent lisp-like language with message-passing and pattern-matching implemented in C.
An ESP32 should be fine, or stm32, or nrf52 for LBM (LispBM). Some RTOS to run it on is recommended, chibios, freertos or zephyr for example (not an absolute requirement). https://github.com/svenssonjoel/lispBM
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InfluxDB
Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.
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Have you looked at uLisp? Or perhaps Mezzano? The latter doesn't run on bare metal yet, but does have arm64 support.