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debug info collection

hello TI friends,

By checking http://e2e.ti.com/support/dsp/davinci_digital_media_processors/f/717/t/282354.aspx?pi199607=2

there's some description as below

" You need to connect CCS+JTAG to target on failure to be able to collect dumps"

Is there any guide for using CCS + JTAG to debug A8, M3 and DSP?