I have to say that I am very pleased with Texas Instruments latest round of DSP and microprocessor development kits. They have done an amazing job of taking the cost out of sophisticated embedded development. At one time, the JTAG pod alone cost $1500, now it is included free with the kit. They have the latest TI C2000 parts: F28335 and F28035, real-time JTAG connection to the PC, high quality analog sensors, and a very good C compiler.