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Specifically, this article deals with JTAG debugging, which is a stop-mode technique. Unlike run/mode debuggers such as GDB, this means that the debugger stops the processor, for example, to execute the code step-by-step or when it hits a breakpoint. Another fundamental characteristic of this mode is that the processor cooperates with the debugger for controlling the execution of the code and for accessing internal resources (CPU registers, RAM/flash mempriesmemories, on-chip periperal peripheral registers, etc.). For more details on JTAG debugging, please refer to [https://www2.lauterbach.com/pdf/training_jtag.pdf this document].

Tracing is en an extremely powerful technique that comes to help not only to "enhance" the debugging. It is also an outstanding troubleshooting weapon and allows advanced measurements, profiling, and specific software-related testing like code coverage. You can think about it as a sort of "movie" that is shot in real-time and in a non-intrusive fashion while the processor is running. Later on, it allows engineers to scrutinize all the processor's activity around specific events that occurred in the past. For instance, this is astonishingly useful for analyzing errors, bugs, or other situations that do not allow to stop the processor. With respect to tracing, three different strategies are here illustrated: