Having Guile running on an embedded device is very powerful. You can add scripting capabilities to a C program and avoid some of the cross compilation -> deploy cycles by simply editing the script to change some functionality. As an example I have taken the code from the excellent introductory article Scripting with Guile. I packaged the code so that if you install the tarball or the ipk it will install both the binary and script to a suitable place.
After installing Guile do:
root@om-gta02 ~/ipks $ opkg install square_0.1-r0_armv4t.ipk
Installing square (0.1-r0) to root...
root@om-gta02 ~/ipks $ square
result of square is 49
result of square2 is 81