Trace32 is an In-Circuit Debugger.
Trace32 is an In-Circuit Debugger (ICD) made by Lauterbach. It uses basic features of the onchip debug system to provide a powerful debug tool that offers:
- Easy high-level and assembler debugging
 - Display of internal and external peripherals on a logical level
 - Onchip break and trigger support
 - RTOS awareness
 - Flash programming
 - Powerful script language
 - Multiprocessor debugging
 
Reference
Trace 32 Debugger
Trace 32 In-Circuit Debugger Quick Installation and Tutorial