I’ve put together a blog that shows how to debug a Linux application running on BeagleBone Black, using the free “Community Edition” of ARM’s DS-5 toolkit. This uses DS-5 Debugger for debug, and Streamline performance analyzer to profile the entire running system, using the Open Source “Xaos” fractal renderer as an example Linux application:
http://community.arm.com/groups/tools/blog/2013/04/25/playing-with-ds-5-ce-and-beaglebone-black