launch.json

{
  // Use IntelliSense to learn about possible attributes.
  // Hover to view descriptions of existing attributes.
  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
  "version": "0.2.0",
  "configurations": [
    {
      "cwd": "${workspaceFolder}",
      "executable": "${command:cmake.launchTargetPath}",
      "name": "Debug with PyOCD",
      "request": "launch",
      "type": "cortex-debug",
      "runToEntryPoint": "main",
      // "runToMain": true,
      "showDevDebugOutput": "none",
      "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
      "targetId":"rp2040_core0",
      //rp2040_core1  rp2040(其实也是cor0)
      "servertype": "pyocd"
    },
    {
      "name": "Embedded Debug",
      "type": "embedded-debug",
      "request": "launch",
      "serialNumber": "E6605481DB511F34", 
      //keil里面可以看到，这个串号就是pyocd里面可以看到的uid
      //旧文档里面的获取串号的方法不对，这里用默认配置的Add Configuration Arm：Embedded Debug
      "deviceName": "rp2040",
      "processorName": "rp2040_core0",
      "program": "${command:embedded-debug.getApplicationFile}",
      // "cmsisPack": "https://mcuxpresso.nxp.com/cmsis_pack/repo/NXP.K32L3A60_DFP.13.1.0.pack",
      "pdsc": "C:\\Users\\AlwaysTS\\AppData\\Local\\cmsis-pack-manager\\cmsis-pack-manager\\ARM.CMSIS.5.9.0.pdsc",
      "svd": "D:/MyProgramData/MCU_SDK/pico-sdk/src/rp2040/hardware_regs/rp2040.svd",
      "debugFrom": "main"
    },
    
    //只调试Core0,适用于使用PicoDebug uf2自调试固件
    {
      "name": "Pico Core0 Debug",
      "cwd": "${workspaceRoot}",
      "executable": "${command:cmake.launchTargetPath}",
      "request": "launch",
      "showDevDebugOutput": "raw",
      "type": "cortex-debug",
      "servertype": "openocd",
      // "gdbPath": "gdb-multiarch",
      "gdbPath": "arm-none-eabi-gdb",
      "device": "RP2040",
      "configFiles": [
      //"interface/raspberrypi-swd.cfg",
        "interface/cmsis-dap.cfg",
        "target/rp2040-core0.cfg"
    ],
    "openOCDLaunchCommands": [
        "transport select swd",
        "adapter speed 1000"
    ],
      "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
      "runToEntryPoint": "main",
      // Give restart the same functionality as runToEntryPoint - main
      "postRestartCommands": [
          "break main",
          "continue"
      ]
    },

    {
      "name": "RP2040 Debug",
      "cwd": "${workspaceRoot}",
      "executable": "${command:cmake.launchTargetPath}",
      "request": "launch",
      "showDevDebugOutput":"raw",
      "type": "cortex-debug",
      "servertype": "openocd",
      // "gdbPath": "gdb-multiarch",
      "gdbPath": "arm-none-eabi-gdb",
      "device": "RP2040",
      "configFiles": [
        //"interface/raspberrypi-swd.cfg",
        "interface/cmsis-dap.cfg",
        "target/rp2040.cfg"
    ],
    "openOCDLaunchCommands": [
        "transport select swd",
        "adapter speed 1000"
    ],
      "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
      "runToEntryPoint": "main",
      // Give restart the same functionality as runToEntryPoint - main
      "postRestartCommands": [
          "break main",
          "continue"
      ]
    }
  ]
}