Check out AFROS.
http://aranym.sourceforge.net/afros.html
Its a combination of EmuTOS/FreeMiNT/fVDI/XaAES
So .. its an entirely free, open-source, multitasking operating system. Its completely TOS compatible, and ready for the assembler parts to be run through PortASM (free - I'm trying to get my hands on it now - converts 68K code to coldfire), and the C parts to be run through GCC for coldfire.
I'm sure there are plenty of other changes to be done and hardware differences to play with, but you can port it all to coldfire and run it on a falcon or TT as coldfire code should run on an 030 without problems (except for possibly some rare MUL and DIV differences that most code won't notice, hopefully).
BTW, that second link you posted is interesting. Too bad its an Arm CPU and not a Coldfire!!
Has anyone seen the NXT SoundVu stuff? or rather heard it?