Using RVDS Debugger v3.1

0. Execute [RealView Debugger]

1. Connect target
[Target] -> [Connect to Target]
Select the the Arm architecture you are using.

2. Open executable file
[Target] -> [Load Image]
Select '*.axf'

3. Set break point (2 ways)
i) [View] -> [Symbols]
Find the symbol to set break-point and set break-point to it
ii) In the command window:
break jpgd_idct or
binstr S:0x00011B14

4. Run (F5)

-- Other Tips --
1. On RVCT 3.1 version, setting 'd' register by setreg command, like
setreg @D10_I32H=0x33333333

setreg @D10_I32L=0x33333333

2. You can see the value of D, Q registers in the low part of VFP tab. 

3. command etc.
> reset
> load/r 'W:\SVN\jpg\app\jpgd_test.axf'
> break jpgd_idct
> go