Yes FPC/Lazarus
Pascal is just a language - FPC/lazarus is a very widely specified toolchain with the ability
to cross compile to a wide range of targets. It's a really good environment but be very careful
with the (very dodgy) documentation. Use the forum a lot.
There's even work going on to support Android (although personally I'd rather Android
was dropped into the fires of hell and never seen again)
I know there's the ability to inline code for intel procs but my own embedded knowledge
is more PIC based so I dont know much about ARM support.
I did see a thread a while back where someone confirmed it can cross compile
to bare metal ARM so I guess inlining is possible as well but I can't say for certain.
Anyway - it sounds like you know where to look - but let me know if you need help with it.
Just an FYI for anyone interested:
Cross compile targets for fpc/lazarus listed in the project window are:
a64
arm
avr
i386
i8086
jvm
m68k
mips
mipsel
powerpc
sparc
x86_64
And of course it runs on most OS's
https://forum.lazarus.freepascal.org/index.php?action=forum
One word of caution - there is at least one spin-off from lazarus - it is very good but if you
expect to maintain commercial or long term code I'd suggest you stick with vanilla lazarus and it's packages.
I've had problems in the past with packages not being compatible in the long term.