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.)

>>3

Data returned to the caller will be copied to the caller's stack frame and will be left there, unless GC is invoked manually on the stack frame in question.