Add instructions for running tests on Apollo4 based devices

doc/Testing.md

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+Testing
+============
+
+## Run tests on Apollo4 based TotTags
+
+### Flash the boards
+1. Navigate to the test folder
+
+        cd socitrack/software/firmware/tests
+
+2. Clean up the old builds
+
+        make clean
+3. Program the device ID (using `ff` as an example here)
+
+        make ID=c0:98:e5:42:00:ff UID
+4. Program the test firmware (available BOARD_REV for apollo4 based TotTag: `EVB`, `I`, `K`, `L`, see the revision letter on the side of the TotTag name on the board; for the list of available tests, see the makefile)
+
+        make ranging_radio BOARD_REV=EVB
+
+
+### Debug the boards
+
+#### Read real-time SWO output
+With the JLink debugger connected, run the following command.
+
+
+        jLinkSWOViewerCL -swoattach 1 -swofreq 1000000 -device AMA4B2KP-KBR -itmport 0x0
+
+You should be seeing the debugging messages coming after that.
+#### GDB based debugging
+1. In one terminal tab, run the following command to start the GDB server
+
+        JLinkGDBServer -if swd -device AMAP42KK-KBR -endian little -speed 1000 -port 2331 -swoport 2332 -telnetport 2333 -RTTTelnetport 2334 -vd -ir -localhostonly 1 -singlerun -strict -timeout 0
+
+2. In another terminal tab, navigate to the `bin` folder with the compiled files
+
+        cd socitrack/software/firmware/tests/bin
+
+3. invoke the GDB debugger
+
+        arm-none-eabi-gdb
+
+4. With the GDB debugger starting, load the `.axf` file and start the test
+
+        file TestRangingRadio.axf
+        target remote localhost:2331
+        load
+        mon reset 0