Motorola MPC533 Reference Manual page 1018

RCPU Development Access
Debug mode enabling through READI and entering debug mode out of system reset is done
by setting the following bits in the DC register (DME=0b1, DOR=0b1) during system reset.
Debug mode entry causes RCPU to halt.
22.9.2.3 Non-Debug Mode Access of RCPU Development Access
The RCPU development access can be also be used while the RCPU is not halted (in debug
mode). This feature is used to send in breakpoints or synchronization events to the RCPU.
Please refer to Chapter 21, "Development Support" for further details.
Non-debug mode access of RCPU development can be achieved by configuring the READI
module to take control of RCPU development access during module configuration of the
DC register (DME=0b0, DOR=0bx).
22.9.2.4 RCPU Development Access Flow Diagram
Figure 22-82 has flow diagram describing how the RCPU development
access can be achieved via READI signals.
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