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CCS/TMS320F2812: Is it possible to connect without halting the processor?

Part Number: TMS320F2812


Tool/software: Code Composer Studio

I am using an CCS 6.1.1.00022 and an XDS510LC USB  emulator to connect to a TMS320F2812.

Is it possible to connect without halting this processor?

If so, do I have the right emulator to do so?

So far, I have tried these things:

- Set the Debug configuration to; No initialization script, Load symbols only, No verification, NOT Reset the target on connect

- Commented-out "GEL_Reset();" under "OnTargetConnect()" in all f2812.gel files on my system.