I'm currently planning out a project that involves building a OSC controller using an ARM chip. I hope I will be able to use scheme to write the firmware for the device, that would be swell (and much more fun than using ASM).
http://en.wikipedia.org/wiki/PreScheme
I experimented with other languages/things before for embedded programming. I think forth would be great if it worked the way my brain does. Otherwise, there are good reasons everybody uses C.
The guy is running an Arc (pg's Lisp, currently implemented in mzscheme) web server on his Arm-based SheevaPlug.