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"We present an implementation of Scheme for microcontroller that is very compact and includes a real-time garbage collector. The compiler, which runs on a normal workstation, produces byte-code from the source program and the bytecode is linked with a runtime module. With this system, we demonstrate that it's clearly possible to run Scheme programs on a microcontroller with 64 KB of memory such as the Motorola 68HC11. Executables that include the whole library can be as little as 22 KB."
via Gavin
The paper can be foung here
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