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CC3235MODAS: About debugging CC3235MODAS

Part Number: CC3235MODAS
Other Parts Discussed in Thread: CC3235S, TMDSEMU110-U


I am developing using CC3235MODAS.
I'd like to debug CC3235MODAS as I proceed with development, but I'm not sure how to do it.
So, could you tell us about the following?
 At the moment, I have LAUNCH XL-CC3235S.
Is it possible to use it to connect UART and JTAG to an external CC3235MOD?
I'm trying to set the device from product mode to development mode with UART.
Or does it have to be a LAUNCH CC3235MOD?
Is there a recommended circuit for peripheral circuits when debugging with UART or JTAG?
Also, is there anything you need as a debugger?
(Including the connector to connect the debugger)
Thank you.