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51forth.zip package is available from many archive sites, along with several other implementations of Forth.This implementation is subroutine-threaded , with about 20 words written in assembly language, and the complete system occupying a total of about 8K of RAM. It was cross-developed from a VAX to an RTX2000 Forth system connected to dual-ported RAM accessible to the microcontroller.
The sources and documentation are in the public domain.