Screen is a full-screen window manager that multiplexes a physical terminal between several processes (see man screen). It can be used as an UART/tty terminal to drive APF*.
In Debian/Ubuntu there is a package :
$ sudo apt-get install screen
Connect to serial port
To connect to serial port tty, just type :
$ screen /dev/ttyUSB0 115200
Where '/dev/ttyUSB0' is your serial port device.
To quit the terminal do Ctl-A K then 'y'.
On Debian if you use the mouse wheel to scroll terminal, it will scroll the commands history. To solve this problem just add this magic formula in your ~/.screenrc :
termcapinfo xterm* ti@:te@
The explanation is given on this stackoverflow question.