A new Open Source Project for firmware development is available on
Sourceforge.

F- (pronounced "F minus") is an implementation of ANS Forth that uses
a VM generator running on an ANS Forth to compile Forth into source
code suitable for plugging into a C-based microcontroller project. F-
can easily invoke C functions, or include chunks of C code, since C is
its "assembly language". C projects can execute F- functions by
invoking the VM. F- allows arbitrary backends to be plugged in so it
can be used to express the VM in languages other than C such as
assembly, Ada, Verilog, Forth, etc.