First you need to have your kernel built with Android USB gadget.
After that it would just be a matter of going to Settings-
>Applications->Development and enable USB Debugging. Now depending on
the target device you might need to set the vendor ID on .~/android/
adb_usb.ini

See this wiki for more info.

http://www.omappedia.com/wiki/Support_Tools#Android_Gadget_ADB:_Linux_PC_Host

On Nov 4, 9:25 am, Arun Joseph <arunjosep...@gmail.com> wrote:
> How I can start the service adbd only when usb cable is connected
> between host and target?
>
> Thanks & Regards,
> Arun

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