Raspberry Pi Pico Series - Debug with Openocd; Debug with SWD

$ minicom -D /dev/tty.usbmodem1234561 -b 115200
Debug with OpenOCD
With Debug Probe, you can load binaries via the SWD port and OpenOCD.
First, build a binary. Then, run the following command to upload the binary to the Pico, replacing blink.elf with the name
of the ELF file you just built:
$ sudo openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "adapter speed 5000" -c
"program blink.elf verify reset exit"
If you are using a RP2350 based board, then use
$ sudo openocd -f interface/cmsis-dap.cfg -f target/rp2350.cfg -c "adapter speed 5000" -c
"program blink.elf verify reset exit"
Debug with SWD
You can also use openocd in server mode and connect a debugger that provides break points and more.

IMPORTANT
To allow debugging, build your binaries with the Debug build type using the DCMAKE_BUILD_TYPE option:
$ cd ~/pico/pico-examples/
$ rm -rf build
$ mkdir build
$ cd build
$ export PICO_SDK_PATH=../../pico-sdk
$ cmake -DCMAKE_BUILD_TYPE=Debug -DPICO_BOARD=pico ..
$ cd blink
$ make -j4
Note: you should use -DPICO_BOARD=pico2 for a Raspberry Pi Pico 2.
The debug build provides more information when you run it under the debugger.
First, run an OpenOCD server:
$ sudo openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "adapter speed 5000"
For a RP2350-based device use -f target/rp2350.cfg instead.
Then, open a second terminal window. Start your debugger, passing your binary as an argument:
Getting started with Raspberry Pi Pico-series
Debug with OpenOCD 23