1.4.7 Debugging Bootloader and Application to be bootloaded

Debugging Bootloader

For CORTEX-M based MCUs, see Debugging Bootloaders For CORTEX-M based MCUs topic below
MIPS based MCUs Can be debugged as any other MPLAB project. No additional setup is required.
For MPUs, see Using at91boostrap loader with Harmony3 MPU Bootloader topic below

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