Oh, this variation might be easier than writing enough OS from scratch
to run Racket, and perhaps more interesting: go directly from figuring
out the magical incantations (device initialization, etc.) to bring up a
RasPi to the point you can blink an LED, to displaying something on the
video device, to running your own R5RS Scheme REPL, implemented in C or
assembly.
Don't be scared away from coding your own Scheme from scratch. A whole
lot of them got started that way, because it's easy to code your own (If
you borrow existing approaches for garbage collection and evaluation
with tail calls), then do something different with it. In your case,
you're implementing Scheme on bare metal, and can see how that can
accommodate Scheme. For possibly easier debugging, you can develop your
ARM Scheme implementation mostly on your Linux desktop, in normal
userspace and/or in an ARM QEMU.
Later on, you can borrow key stuff from Racket, like its syntax
reading&transforming and phases&modules.
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