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Yep cross-compiling, it isn't too much of a chore to setup.
All the info to setup eclipse Is here: https://github.com/BelaPlatform/Bela/wiki/Compiling-Bela-projects-in-Eclipse
Also a cross compiler is there with gdb to download, I built this all with crosstools to match GCC and GLIBC versions with Bela.
I just checked and clicking on a pd source file in Eclipse opens it up in PD as well.
The Scripts for syncing the includes and libs from the bela are not setup to use libpd though, I am going to change the scripts and test building/debugging a pd based project with eclipse...