7.3.4.6 Starting Program Execution (Exiting Debug Mode)

To exit Debug mode, the debugger issues the DebugReqOff JTAG instruction, which negates the DebugReq input to the CPU core. Once the CPU exits Debug mode, the DebugAck signal is negated, which can be determined by reading the Status. DebugAck or Result.DebugAckN register bits.