If you are using the ARM ADS suite (and, therefore, CodeWarrior) to develop for GP32, this set of plug-ins and stationery will simlpify and accelerate the whole build process.
GP32Gen provides a replacement post-linker that can generate FXEs and/or firmware images directly from CodeWarrior. Integrated support for FXE tagging (author, icon, title) is built into the IDE, as well as the option to run successful links in the excellent GeePee32 emulator, or upload it directly for execution on a running GP32 handheld using Darkfader's PCLink.

screenshots of GP32Gen, click to enlarge
Codewarrior Stationery is included, designed to run with a customised version of the GP32 SDK, that provides a pre-setup, ready-to-build project to be used as a template when starting new GP32 apps.
Download the GP32Gen installer here - if you want to use the stationary, you'll need the SDK for ARM ADS.
I've also made a couple of source files from GP32Gen available - the file formats for ELF executables and FXE code headers, as well as functions concerning the unpacking and repacking of GP32 binary files.
note: I wrote this a while ago, it may be that the latest GeePee32 or PCLink no longer support the command line arguments I was using. Everything else in the post-linker should work just fine, however.