Learn-by-doing. Would like to get something like MicroPython on a Pi Zero
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Pretty straight-forward to blink the on-board LED. Code from https://github.com/dwelch67/raspberrypi/tree/master/boards/pizero/blinker01.
A search for "baremetal raspberry pi" will return a handful of results from a few brave souls. The most common are:
In addition, there's a rather dated project that got ChibiOS (my preferred RTOS) running on a Pi using the above resources. There may be a separate project for the RTOS in the future!
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Have you seen this port of MicroPython already? https://forum.micropython.org/viewtopic.php?f=12&t=3317