{
    // 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": [
        {
            // For the Cortex-Debug extension
            "type": "cortex-debug",
            "servertype": "openocd",
            "request": "launch",
            "name": "Debug ODrive v3.x - ST-Link",
            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
            "configFiles": [
                "interface/stlink-v2.cfg",
                "target/stm32f4x_stlink.cfg",
            ],
            "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
            "cwd": "${workspaceRoot}"
        },
        {
            // For the Cortex-Debug extension
            "type": "cortex-debug",
            "servertype": "openocd",
            "request": "launch",
            "name": "Debug ODrive v4.x - ST-Link",
            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
            "configFiles": [
                "interface/stlink.cfg",
                "target/stm32f7x.cfg",
            ],
            "openOCDLaunchCommands": [
                "reset_config none separate"
            ],
            "svdFile": "${workspaceRoot}/Private/v4/STM32F722.svd",
            "cwd": "${workspaceRoot}"
        },
        {
            // For the Cortex-Debug extension
            "type": "cortex-debug",
            "servertype": "openocd",
            "request": "launch",
            "name": "Debug ODrive v3.x - ST-Link - FreeRTOS",
            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
            "rtos": "FreeRTOS",
            "configFiles": [
                "interface/stlink-v2.cfg",
                "target/stm32f4x_stlink.cfg",
            ],
            "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
            "cwd": "${workspaceRoot}"
        },
        {
            // For the Cortex-Debug extension
            // ssh -t odrv3 -L3333:localhost:3333 bash -c "\"openocd '-f' 'interface/stlink-v2.cfg' '-f' 'target/stm32f4x_stlink.cfg'\""
            "type": "cortex-debug",
            "servertype": "external",
            "gdbTarget": "localhost:3333",
            "preLaunchCommands": [
                "load"
            ],
            "request": "launch",
            "name": "Debug ODrive v3.x - Remote",
            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
            "configFiles": [
                "interface/stlink-v2.cfg",
                "target/stm32f4x_stlink.cfg",
            ],
            "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
            "cwd": "${workspaceRoot}"
        },
        {
            // For the Cortex-Debug extension
            // ssh -t odrv4 -L3333:localhost:3333 bash -c "\"openocd '-f' 'interface/stlink.cfg' '-f' 'target/stm32f7x.cfg' -c 'reset_config none separate'\""
            "type": "cortex-debug",
            "servertype": "external",
            "gdbTarget": "localhost:3333",
            "preLaunchCommands": [
                "load"
            ],
            "request": "launch",
            "name": "Debug ODrive v4.x - Remote",
            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
            "configFiles": [
                "interface/stlink.cfg",
                "target/stm32f7x.cfg",
            ],
            "svdFile": "${workspaceRoot}/Private/v4/STM32F722.svd",
            "cwd": "${workspaceRoot}"
        },
        {
            // For the Cortex-Debug extensions
            "type": "cortex-debug",
            "servertype": "bmp",
            "request": "launch",
            "name": "Debug ODrive v3.x - Black Magic Probe",
            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
            "device": "STM32F4xx",
            "BMPGDBSerialPort": "${env:BMP_PORT}",
            "interface": "swd",
            "targetId": 1,
            "armToolchainPath": "${env:ARM_GCC_ROOT}/bin/",
            "cwd": "${workspaceRoot}"
        }
    ]
}