I develop in an IDE (Qt Creator), but when I need to target ARM I use a cross-compiler that I simply start from the terminal. Then I copy the compiled binaries on the ARM device via sshfs and test them over ssh (you can share X session with ssh -X).
The Persee is “arm”, not “arm64”, so you’ll have to target that. Specifically, the ARM arguments to pass to arm-linux-gnueabihf-gcc are -march=armv7-a -marm -mfpu=neon-vfpv4 -mtune=cortex-a7 -mabi=aapcs-linux which target the Persee’s CPU architecture.
When it comes to debugging you can install gdb on the Persee and run the code via that.