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We use the development environment you are proposing and it works extremely well.
I built a cross tool-chain that supports the m68k family and ColdFire (I built it on Intel/Linux, Sparc/Solaris and HPUX hosts) and used that to compile newlib (http://sources.redhat.com/newlib/). Newlib has separate C and math libs.
I wrote some low-level routines (in C) that newlib calls to do serial port i/o to the UART
and voila we had printf, getchar, scanf etc on a TTY console.
I then extended the serial i/o driver to use interupts and buffer characters and this provides a sort of background i/o capability for diagnostic menus on the TTY console.
The only thing is, it's not packaged up with an idiots guide that requires no previous knowledge. You should expect to understand the workings of the toolset and how to generate ROMs etc.
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