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LP-AM243: How to write code to configure the debug register of the am243 Cortex-R5

Part Number: LP-AM243

Hello,

How to write code to configure the debug register of the am243 Cortex-R5? I want to set the debug register to let the program run in a single step, how should I write the code Settings? Use mrs And msr instructions can not, is to use the mapping register ah?

Regards,

Gary