We've not tried this yet but could be interesting… http://www.hitex.co.uk/fileadmin/uk-files/pdf/DS5-Rpi.pdf  

We no longer use this approach and this page may be out of date – it is left here for archive puropses.  We now use NetBeans for C/C++ development on the RPi, see here. Programming in C in the Raspberry Pi works great but tools such as geany are often sluggish to use due to RPi hardware […]