Here are some you can refer to;
Linux Kernel Debug using ARM DS-5 Altera Edition video:
Arria 10 SoC Boot User Guide:
Intel® Arria® 10 SoC UEFI Boot Loader User Guide:
Linux Kernel Debugging With DS-5
FYI, Arria 10 is one of the Intel's SoC FPGA and DS-5 is the software use for debugging.