Need info in booting kernel using JTAG

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Hi all,

                 I am beginner to the Linux and JTAG. I have a board using Infineon's "INCA-IP PSB 21553/PSB 21521 (which has MIPS 4kc core). I want to boot the linux kernel in JTAG mode. I am using Lauterbach Trace32 tool, which runs on a windows PC.
    I had gone through the help files provided in Trace 32 itself. It mentions about the usage of the tool. But I need information about how to make a setup in such a way that I could boot the kernel in JTAG mode. Basically I wanted to debug a kernel module.

    Please guide how to make this setup and what are the things that I should take care in achieving the same.

Thanks in advance,
Sudeep.

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