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If my memory is correct, the Paulmon stuff was a monitor program that you compiled into your 8051 code. This made use of a 8051 that allowed the code to single step.
For the AVR, the best way to do this is with a hardware interface. AVR supports both JTAG debug and DebugWire depending on the device. This along with the AVR Studio allows you to debug on hardware in real time without modifying your source code. AVR is having a promotion right now. They are bundling their AVR Dragon board with a development board for $50. I think Digikey is one of the distributors.
I have not used the PIC is several years, so I do not have up to date knowledge. However, I would suspect that they offer something similar.
Regarding PIC, not all devices can be debugged at hardware lavel.
For those which can be (see their website to know which PICs support hardware debugging), one can use cheaper ICD2 clone from olimex to single step their code programmed in your target via MPLAB IDE in your PC. You don't need to install any debug code manually into your target. MPLAB manages everything itself, just choose ICD2 as your debugger in MPLAB IDE.
Added after 5 minutes:
One more thing, Proteus from Labcenter supports source level debugging of many controllers, like:
8051 through Keil's IDE, PIC's through MPLAB IDE, AVR through Proteus IDE.
If your design is not so complex, requiring too much PC processing power,then you can easily simulate your design (Digital + Analogue co-simulation) on proteus.
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