So what do you think of when you think about debugging an embedded system? You might think of a JTAG/BDM-based debug port, an emulator or logic analyzer, the printf() statement, or one of the many sophisticated source-level debuggers available today. Each of these has its own advantages and disadvantages. Some debuggers are very powerful but come at a hefty price. Some are tied to a particular compiler tool set, while others are only useful on certain CPU families. The JTAG-based debug port is probably the most common now because it is a good balance between cost and capability. These devices can still cost a thousand dollars, and then they are only useful if they are connected to the system, usually requiring some bulky pod to hang fairly close to the target.