Software:

Needs TI account but free usable license model

Code Composer Studio: https://www.ti.com/tool/ccstudio
MSP CapTIvate Design Center GUI: https://www.ti.com/tool/mspcaptdsnctr

Technology:

App. Notes, Datasheets, and stuff to know 

Bootloader (BSL) for MSP low-power microcontrollers: https://www.ti.com/tool/mspbsl#1
PCB-Based Capacitive Touch Sensing With MSP430: https://www.ti.com/lit/an/slaa363a/slaa363a.pdf
TI touch technology guide
MSP430FR2x MCUs documentation