best scheme/lisp for real time code

Is Chicken a good idea? I am worried about the way it does GC. Exhausting the stack seems a bit... Java. I'm looking at Gambit too but I don't know much about it yet.

Whatever I end up using needs to work on ARM. It doesn't have to target C as long as it has FFI and short GC pauses (I am aiming for less than 5ms.)

>>19
I am talking about PL designers. A lot of it happens in the open, and when there is any discussion of GC it virtually always begins with recap of RC then on to other things, eventually touching on generational at some point. This is a step PL designers are missing, and an important one in my opinion.