There are two approaches: local and remote.
Your easiest route is to use prebuilt gdb and gdbserver from linaro.
- You will need gdbserver from gcc-linaro-arm-linux-gnueabihf-4.7-2012.10-20121022_linux/arm-linux-gnueabihf/debug-root/usr/bin/gdbserver on the camera (SD card)
- You will need arm-linux-gnueabihf-gdb from gcc-linaro-arm-linux-gnueabihf-4.7-2012.10-20121022_linux/bin on your PC.
- On camera start /mnt/mmc/gdbserver --multi 0.0.0.0:2345
- On PC start gdb
(gdb) target extended-remote IP_OF_CAMERA:2345
(gdb) attach 414
Attaching to process 414
0x00019454 in ?? ()
or
(gdb) set remote exec-file /mnt/mmc/whatever
(gdb) run
... debug as usual ...
You have to cross-compile gdb on your computer statically. Follow generic instructions just use make LDFLAGS=-static at the end.
Run it from telnet session and work as usual.
To not make it too easy, all binaries are stripped...