How to debug the ARM program through USB Blaster II in CycloneV SOC?

First, Thanks for Aiman's reply, I cannot reply to Aiman directly in the previous question, so I can only create a new question topic.

In my previous question, PS refers to HPS, I want to debug the C program running in ARM through USB Blaster II. I did not find relevant debugging steps in the document. Do someone know how to debug HPS through USB Blaster II?

PS: My development environment is DS-5;

The SOC starts to load the micro OS system, and then executes the application in the HPS. I want to debug the application in the DS-5 through the USB Blaster.

Thanks!