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Alternative to JTAG debugging (serial port etc)

Hi, are there any alternatives to JTAG debugging (mostly, read and write variables)? Does Code Composer e.g. support some kind of serial communication? We have used Crosshairs' tools, but they might be discontinued and we are looking for an alternative.

We don't want to use JTAG, as it is sensitive to noise, and capable of freezing the processor.