Comment by WJW

For those without a NASA-level drone at home that still want to play around with generating hard-realtime C code, there is the excellent arduino-copilot package (https://hackage.haskell.org/package/arduino-copilot) that does exactly what the name implies. I wrote a blog post about it at https://wjwh.eu/posts/2020-01-30-arduino-copilot.html.