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nim-esp8266-sdk reviews and mentions
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uLisp
I went down many of those routes myself, though not the lisp ones. There's also TCL. But I've settled on Nim as my favorite for embedded (at least for a while). For the esp2866 Rust (or D) would be tricky. Nim can compile to C, unlike Rust which doesn't support the Xtensa architecture found on most esp chips. Not sure about D bit it seems unlikely to support Xtensa.
There's a Nim Esp2866 sdk: https://github.com/clj/nim-esp8266-sdk
Stats
clj/nim-esp8266-sdk is an open source project licensed under MIT License which is an OSI approved license.
The primary programming language of nim-esp8266-sdk is Makefile.