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TMS320F280021-Q1: Using the XDS110 On LAUNCHXL-F280025C to Flash and Debug TMS320F280021-Q1

Part Number: TMS320F280021-Q1
Other Parts Discussed in Thread: LAUNCHXL-F280025C

HI,

I would like to use the onboard LAUNCHXL-F280025C XDS110 pins to flash a custom MCU board that has a TMS320F280021-Q1. The schematic shows:

According to the schematic, if I want to debug an external target, I have to connect that target to the 10-pin connector J102. However, the launchpad itself only uses 2 pins TMS and TCK for the debugging of the F280025. Can I also use those two pins to debug and flash an external TMS320F280021-Q1? What are the benefits of connecting all 10 pins?