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Where do I find more information on how to debug the software? I don’t see an article in the knowledge base at all.

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You can use whatever method your target environment requires.  I use gdb when running on my local PC, gdb and gdbserver for embedded linux, Wind River Workbench for VxWorks, Multi for Green Hills, and XSDK for Petalinux on Xilinx.  To the target environment, there’s nothing unique about CFS.  You can debug it just the same as you can debug a “Hello World” application on your target.  On some targets, you may want to use the recommended full toolchain.  For example, Petalinux is very clunky to debug with gdb and gdbserver, but works very well with the XSDK toolchain that the vendor recommends.  Just use the vendor toolchain to build an identical project(s) as the Makefile system included with CFS.  It can take some time and is less flexible when moving between platforms, but it can sometimes increase productivity by being able to use all the debug features of that toolchain.  Some target environments cannot use the Makefile system included with CFS requiring you to create a new build project.  I use Eclipse or Clion for most of my projects, simply because I can’t remember all the gdb command line commands and really need a GUI.  Either way, its the same CFS source code.  Just a different build system.

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