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We can use OpenOCD to debug the firmware on the STM32. To debug per example the FlyingF3 we should pass to openocd the stling config file and the stm32f3 stlink config file like the follow command: openocd -f ./flight/Project/OpenOCD/stlink-v2.cfg -f ./flight/Project/OpenOCD/stm32f3xx.stlink.cfg It will create a GDB server that listen on port 3333.
Then we should open GDB ./tools/gcc-arm-none-eabi-4_7-2013q1/bin/arm-none-eabi-gdb
connect it to the server created by openocd using: target extended-remote :3333
Now we can start debug!