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CCS/CC2640: How To Flash code to CC2640R2F chipset

Part Number: CC2640
Other Parts Discussed in Thread: TMDSEMU110-U

Tool/software: Code Composer Studio

I am relatively new to working with core chipsets like cc2640 and I am confused about how to flash code into the chip. I am referring to this below circuit and know its related to the JTAG pins(13,14) but I don't know the entire process. So if anyone could explain the process or provide some links it would be helpful