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Espruino is a JavaScript interpreter for low-power Microcontrollers. This site is both a support community for Espruino and a place to share what you are working on.
@Gordon
Yes, potentially you could use FreeRTOS or something similar. Almost immediately you'll have people asking why they can't use USB devices on it though :)
Best bet would be to compile a linux kernel with the realtime options set - although if Espruino could use a hardware timer on the Pi, it might be a realtime kernel isn't needed at all.