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TIDA-01632: How to set the SW debug environment of TIDA-01632?

Part Number: TIDA-01632

Hi,Ti partners:

      We have made the evaluation board of TIDA-01632, how to set the SW debug environment by hardware?

    Do we have to need the board of CC6240R or CC6250?

    We don't have the CC6240R or CC6250, can TI provide if needed?