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OpenOCD

Open-source on-chip debugger; Raspberry Pi maintains a downstream fork for use with the Pico SDK.

software also known as Open On-Chip Debugger

Knowledge about OpenOCD

Debug a Pico with the Raspberry Pi Debug Probe: SWD upload, GDB and a UART in one cableprocedure · unverified · The Debug Probe (or a second Pico running debugprobe firmware) gives you CMSIS-DAP SWD plus a USB-UART. Flash ELF files with OpenOCD without touching BOOTSEL, and debug with GDB on a Debug build.

Related

depends on (from): Raspberry Pi Debug Probe – Standalone upload and debugging use OpenOCD (CMSIS-DAP).