Nano RP2040 and debugger?

Is it possible to use a debugger, like ATMEL-ICE, with Nano RP2040?
Thank you

The Serial Wire Debug pins are routed to some test points at the bottom of the board. You can ether solder some wires to it or use an adapter with pogo pins.

This could give you standard debug support like step or breakpoints with every major debug software available e.g., ARM/KEIL, IAR, ... However, because this is a system with two processors which is non-standard there could be some hand holding required by the debug software vendor.
For additional support like peripheral view, you would need to get files that describe the peripheral registers and descriptions for flash programming.

Thank you.
I honestly don't understand how you can conceive such a powerful board without an adequate debugging system.

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