Mike Anderson, CTO and Chief Scientist for The PTR Group, gives a tutorial about Linux kernel debugging in Android with OpenOCD JTAG at the Android Builder Summit in February 2012.
Owing to the use of the Linux kernel, Android device drivers can be debugged using many of the same techniques as Linux. Still, much of the user-space interface code typically found in Linux is missing in Android. This complicates the debugging of kernel driver code. This presentation will demonstrate the use of the open on-chip debug (OpenOCD) software and an inexpensive JTAG to debug Android kernel code. The target audience for this presentation are platform developers looking to debug their kernel code such as device drivers. This presentation is targeted at intermediate-level developers with some understanding of kernel code development.
You can also download the presentation slides on linuxfoundation.org website.