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Using kgdb (2)
Then also pass kgdbwait to the kernel:
it makes kgdb wait for a debugger connection.
Boot your kernel, and when the console is initialized, interrupt the kernel with [Alt][SyrRq][g].
On your workstation, start gdb as follows:
% gdb ./vmlinux
(gdb) set remotebaud 115200
(gdb) target remote /dev/ttyS0
Once connected, you can debug a kernel the way you would debug an application program.