Coldfire V2 devices and serial debuggers

Has anyone got a serial debugger running on a Coldfire V2 MCF52xxx device?
 
A while back I read that dBug supports the GDB protocol and dBug is a serial debugger. But all posts I have seen, seem to be about using a BDM based debugger.
 
The reason a serial debugger is prefered to a BDM based debugger is that I'm doing some robotics work and I can make the servo code run at a higher interrupt level than the serial debugger and this will allow me to debug code with servos running.
 
BDM is too intrusive and it will cause the servos to go nuts.
 
The CF debug docs say that BDM theoretically will steal cycles but everything I have read says tha the BDM debuggers halt the CPU...
 
Thanks in advance.
Harjit

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