CrossCore Embedded Studio 2.11.0 and newer support viewing peripheral registers on ARM cores via OpenOCD with the Peripherals View (Window → Show View → Peripherals for new CCES workspaces, Window → Show View → Other → Debug/Peripherals for old CCES workspaces).
Note that the Peripherals View is currently unsupported in CrossCore Launch Groups and can only be used in standalone OpenOCD debug sessions.