For embedded system development, you'll usually want to connect your target hardware to a host to perform debugging. Arm provides both JTAG and Serial Wire Debug (SWD) connections via a range of debug probes which are tuned to the needs of the system:
- DSTREAM and DSTREAM-ST enable powerful software debug and optimization of any Arm processor-based hardware target.
- The ULINK family provides uncomplicated debug, enabling cost efficient run-control debug on devices ranging from microcontrollers (MCU) to multicore application processors.
- CMSIS-DAP provides simple debug over driverless USB.
Debug Probes and Adapters gives more information, including a comprehensive overview and comparison of the available solutions.