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debugging zstack linux gateway

Other Parts Discussed in Thread: CC2531, CC2530

Hi

I am working with ZHA on CC2530 configured as router and CC2531 as ZNP with beagle bone. I have developed a server program that communicates with the linux gateway to send on-off and level commands. I sometimes run into petty issues in Linux gateway which I find out by tracing each and every function. My question is, is there any debugger available for debugging the linux gateway application ?
Since linux gateway uses gcc-linaro toolchain for compiling and building the application, I am not aware if there is a debugger available with this toolchain. If not then is there any other option through which I can debug the linux gateway sample application. Any suggestions would be greatly helpful.