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Orcus is a bare metal library for GP2X development, intended for use on top of devkitARM. For instructions on setting up a development environment, take a look at the devkitPro pacman documentation. You'll find Orcus included in the gp2x-dev group, along with gp2x-examples showing how to use the various features. You can also follow the Getting Started guide.
It works on both F100 and F200 transparently (i.e. you do not need to release separate binaries as used to be common practice), but does not support later Pollux-based hardware (i.e. F300, Wiz, Caanoo).