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Can PC debug CMx-based MCU without debugger ?

On ARM official website, I saw some description about debug method by Freescale Vybrid.

It sounds like below (No JTAG or SW connection):

  [PC Host]  <--- USB wire ---> [Freescale Vybrid]

So it seems there is a bridge inside Vybrid, which is between USB module and DAP.

Inside Vybrid:

   [USB I/O]  <---> [USB module]  <---> [Bridge]  <---> [DAP]

Does ARM have such kind of bridge converting USB transaction to JTAG/SW DAP transaction ?

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