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Getting started with connecting XDS510 USB debugger with Beaglebone black

Dear TI E2E Community,

Thanks you very much for supporting all my threads

As this is the first time to connect XDS510 USB debugger with Beaglebone black,  as this is used to bringup my new chip DDR for Tuning_the_DDR3_Timings_on_BeagleBoneBlack

Kindly help me out with relevant links where it is good enough to get started, as I googled it but am unable to get appropriate as it is bits & pieces here & there

Kindly do the needful as early as possible

Many Thanks in advance