docs/manual: document how to use the cross debugger

Signed-off-by: Thomas Petazzoni <thomas.petazzoni@free-electrons.com>
[ThomasDS: some rewording, add <buildroot> path prefix in example]
Signed-off-by: Thomas De Schampheleire <thomas.de.schampheleire@gmail.com>
Signed-off-by: Peter Korsgaard <peter@korsgaard.com>