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The pico_debug project provides a PCB which can host a Pico, plus another to act as a debugger. The circuit follows the Raspberry Pi suggestion. The PCB provides these features:
Pico to use as a development target (can be Pico 1 or Pico 2)
The Hello_button circuit
Pico to use as a debugger (The Pico 1 is most straightforward)
Reset buttons for each Pico
A header to connect the debug pico to a debugger, should that be necessary.
By developing for the pico via a debugger, you can gain a more convenient UART connection for debug trace, as it does not renegotiate with the host whenever it resets. You can also flash the Pico without using the host filesystem. The debugger also provides the conventional breakpoint, stepping etc functions.