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CC2538-CC2592EMK: Debugging CC2538-CC2592EM running ZNP configured with HAL_USB_UART

Part Number: CC2538-CC2592EMK
Other Parts Discussed in Thread: CC2538

I have a project that uses a CC2538-CC2595EM as a ZigBee coordinator (ZNP project) connecting to a BeagleBone Black via serial USB.

Is there anyway to use the SmartRF06EB to debug the CC2538-CC2592EM while it is connected via its USB port to the BeagleBone Black?