A heterogeneous multi-core integrated circuit includes first and second sets of processor cores and corresponding first and second test access ports (TAPs). The first and second TAPs are connected to corresponding first and second debug ports by way of corresponding first and second TAP controllers. A debug control circuit is connected between the first and second TAP controllers and the first and second debug ports. Based on external configuration signals, the debug control circuit configures the connections between the first and second TAP controllers and the first and second debug ports according to predetermined configuration modes, which allows flexibility in debugging the heterogeneous multi-core integrated circuit.