I don't think this work fits your needs. Have a look at something like https://en.wikipedia.org/wiki/NodeMCU or http://www.eluaproject.net/ or https://github.com/whitecatboard/Lua-RTOS-ESP32 instead.
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The problem with eLua and others is that they either try and replace C or they focus on the headers/registers/peripherals of the micro. Design it to be the environment you do all your work in. Get there, stay there. It’s why eLua appears to have terrible micro support because they only have the bandwidth for specific chips. Other options like MicroPython have a VM you are never supposed to leave.
I think you’re right that Lua is the way to go. But I have yet to see someone package it nicely for gcc and to be included and built from an MCU IDE (Keil, Segger Emebbeded, IAR, etc). I’ll keep looking.