Lpc2000

Is there anyway to debug from flash using gnu (free) tools and the 
wiggler?  I'm new to the ARM and GNU tools but my fog is slowly 
starting to lift.  Also, the wiggler seems quite unstable--lots of 
errors while trying to connect.  It eventually works after a few 
tries at low speed (8) but doesn't give me much confidence.  Is 
there another low cost JTAG solution for the ARM?  Are there any 
good app notes that walk through a debugging session with 
GNU+ARM+wiggler for us rather slow newbies?

TIA

Chris