Getting Started developing for the Zaurus

I’m trying to get my linux box set up so I can start developing for the
Sharp Zaurus (ARM Architecture). I can compile apps on the x86 arch, but I
just can’t get cross compilation working. I probably have not done
something, or have done something incorrectly. I know some people are using
KDevelop, and others are using text editors. If anyone has a complete and
howto on how I can setup SDL to develop for x86 and ARM, I would
greatly appreciate it. There’s just so many outdated HOWTO’s on this kinda