MicroCode Studio does this.
http://www.mecanique.co.uk/code-studio/index.html

It's mostly designed as an IDE for MELabs PIC Basic, but the included
bootloader can download an included debugging kernel and do that stuff.

-Denny


> Hi, PicListers !
>
> Does anybody knows if there is available somewhere in the Net a
bootloader
> with basic (or better, advanced !) debugging capabilities ? I'm thinking
on
> the capability to set breakpoints, examine/modify registers and/or memory
> positions, etc. while being able to return to the interrupted program and
> continue its execution. The idea, of course, is to have some debugging
> capacity without having to spend the bucks in an ICD..
>
> In my humble opinion it is only a matter of software since most Microchip
> CPUs have the capability to modify its program memory. Now, is there
> something like this around there ?
>
> Thanks, guys & gals, and saludos from Spain !
>
> Joan
>
> --

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