Well, for KDE it's got to be KDevelop www.kdevelop.org
It's in transition at the moment. You don't say what version of KDE you're using, but basically if you're using 3.1.x or 3.2 you should go for KDevelop 3. I know FreeBSD runs a bit behind Linux in releasing stuff, but if you can, get KDE 3.2 and KDevelop 3.0.1, it rocks!
I am soon going to start using KDevelop with GP32 serial debugging, I'll let you know how I get on.
pkg_add? Damn, real fbsd users do cd /usr/ports/devel/kdevelop && make all install clean.
You might try my minimalist IDE though, consisting of vim and a lot of xterms.
If you're doing GP32, you may find the project management and CVS support in KDevelop over-the-top. In that case just use Quanta, which is the editor normally present in KDevelop anyway.