The heterogeneous system on chip has the characteristics of customization to meet the specific requirements of applications and has become the mainstream solution in many fields. However， users need to face program errors brought by various computing resources when developing on heterogeneous system on chip， and it is also a great challenge to build a unified debugger framework for different heterogeneous system on chip. To solve the above problems， a debugging framework for heterogeneous system on chip is proposed in this paper. A general interface of the debugging framework for heterogeneous processor is designed in this framework， which enables developers to quickly build heterogeneous debuggers through the framework functional interfaces. The debugger framework is rich in functions. It realizes debugging of heterogeneous multicore programs through thread switching and performances analysis of heterogeneous programs. Compared with traditional hardware debugging， the debugger generated by the framework loads heterogeneous programs faster， which is 5.5 times the read memory rate and 16.5 times the write memory efficiency， and the debugging speed is greatly improved.