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.)

>>20

Most PL designers today reuse existing frameworks, like JS, JVM and CLR. Memory management is one of more complex runtime parts. During Symta's implementation, most bugs came from runtime's memory management (despite it is just a few lines of code), and these are hard bugs to make sense of.