I am wondering how to get openOCD working. The freeRTOS port seems to use this. However on the YAGARTO site, it says that it does not support luminary micros. Any ideas?
You should not have any problem with openOCD with Luminary micros. As you can read on the following link : http://openfacts.berlios.de/index-en.phtml?title=Open_On-Chip_Debugger
"It allows ARM7 (ARM7TDMI and ARM720t), ARM9 (ARM920t, ARM922t, ARM926ej-s, ARM966e-s), XScale (PXA25x, IXP42x) and Cortex-M3 (Luminary Stellaris LM3 and ST STM32) based cores to be debugged."
But you should use the latest version of openOCD, which is probably not in the Yagarto distribution.