My purpose is to develop / debug on my computer, and do not keep the operation on Raspberry.
Is there any particular reason why you want to develop the code on you PC?
The Raspberry Pi is itself a highly capable "computer" easily able to develop / debug a small C program.
Because the Pi is credit card sized and very cheap, I think some people automatically disregard the Pi as a development environment and want to cross compile (or they are used to Arduino development).
For a small project you will likely spend more frustrating time setting up a cross compiling IDE than doing the actual development on the Pi itself.
Make sure you are using a Pi2 and use "make" effectively and you can develop some very large programs on the Pi.
A case for using the PC is if your program is portable - most likely meaning it doesn't use the GPIO (which PC's don't have), and, better, your PC runs Linux, not Windows. Then you can debug on the PC and occasionally build it on the Pi for testing.
Anything less than a few thousand lines of code you might as well do on the Pi.
The Pi comes with the development tools and compilers pre-installed (use Raspbian Jessie).
Simple IDE's such as geany are just an apt-get away.