Not in the current version, here the drivers are implemented in C/C++ in the circle bare-metal library [1].
In general, I think Smalltalk is not that well suited as a systems programming language since garbage collection might mess with your timing and you would also need to find a way to handle asynchronous events (such as interrupts).
Nevertheless, Smalltalk has been used for low-level control of robots, e.g. in NXTalk [2] for the Mindstorms NXT ARM7 platform. However, the VM also relied on C code (the LegOS project) for driver code.
There is an almost all-Smalltalk bare metal system for X86, CogNOS. It runs on top of NopSys, about 3500 lines of C and 600 lines of assembler for booting, accessing device registers, and responding to interrupts. But the file system etc. are in Smalltalk.
Do you know anything about the status of this project? I started following it on Github a couple of years ago when it appeared but it does not seem like anyone is working on it
In general, I think Smalltalk is not that well suited as a systems programming language since garbage collection might mess with your timing and you would also need to find a way to handle asynchronous events (such as interrupts).
Nevertheless, Smalltalk has been used for low-level control of robots, e.g. in NXTalk [2] for the Mindstorms NXT ARM7 platform. However, the VM also relied on C code (the LegOS project) for driver code.
[1] https://github.com/organix/pijFORTHos [2] https://www.hpi.uni-potsdam.de/hirschfeld/projects/nxtalk/in...