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Choosing an Embedded Debugger
This article discusses the different stages of software development for a typical embedded system, and outlines the debugging needs in each stage. Herein, the term “application development” collectively refers to 1) board bringup, 2) kernel porting (specifically embedded Linux), and 3) “user-mode” applications.
preview: http://www.viosoft.com  

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Microcontroller Debuggers - Their Place In The Microcontroller Application Development Process
Over the last few years, emulator prices have fallen in real terms and the general robustness transformed; so, with the emulator now (relatively) affordable, what has been happening to the monitor based debugger?
preview: http://www.hitex.demon.co.uk   date: 4/1/1999

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The NEXUS Debug Standard: Gateway to the Embedded Systems of the Future
This article (APB179) looks at the NEXUS IEEE-ISTO 5001 standard for on-chip debug.
preview: http://www.ashling.com  

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The NEXUS Standard: Providing the Gateway to the Embedded Systems of the Future
IEEE-ISTO 5001-1999, the Nexus 5001 Forum Standard, previously known as GEPDISC (Global Embedded Processor Debug Interface Standard Consortium) or NEXUS has been created to provide a standard debug interface for embedded control applications.
preview: http://www.ashling.com   date: 8/27/2001

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Using JTAG Emulation for Board-Level Functional Test
As chip packaging and interconnects become more dense and operate at higher clock frequencies, physical access for traditional bed-of-nails testing becomes limited. These results in loss of ICT (in-circuit test) fault coverage and higher test fixture costs. Reduced fault coverage, coupled with limited diagnostic resolution at ICT and FT (functional test), often add up to excessive debug times in ICT/FT repair stations. These costly,...
preview: http://www.corelis.com  

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Why is an emulator better than a software debugger?
An emulator's features reach far beyond those of a software debugger. A full-featured emulator provides: State-of-the-art source level debugger Advanced trigger and trace
preview: http://www.microtekintl.com