Then use JEDI-SDL. Here is wiki on the subject:
http://www.freepascal.org/wiki/index.php/FPC_and_SDL
Here is link to latest JEDI-SDL:
http://sourceforge.net/projects/jedi-sdl
Here is SDL docs:
http://www.libsdl.org/cgi/docwiki.cgi/SDL_20API
You will want to use the SDL_SetVideoMode function with the SDL_OPENGL flag, with the appropriate width and height parameters, and if you want full screen you will pass the SDL_FULLSCREEN flag.
GLUT is simpler to use, but does not have as many features.
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