Is this a hobby project or a "for profit" project? If it's for profit,
then consider investing in a JTAG emulator (like BDI2000)...it'll pay
for itself many times over.
And if you're poor, the Wiggler from ocdemon.net is a big help, and
only $150. I've only used the Wiggler under Windows, but they
have free code and gdb ports that works under linux, too.
Mark Chambers