During debugging, you can access peripherals of your device listed in the Peripherals View. The peripherals can only be accessed if the respective types are included in the build.
You can access the peripherals from the Debug Console in the Panel View using the pattern NRF_<peripheral_name>. For example, to print the PWM0 peripheral, use the following command:
-exec print NRF_PWM0
If the device does not use the given type, trying to access it on the device will result in an error stating that the given type does not exist.