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dev/vscode/launch.json

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+{
+    // 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
+
+    // ******* INAV ********
+    // Define the following values in settings.json
+    //      - BUILD_DIR: Relative path to the build directory
+    //      - TARGET: Target name that you want to launch
+
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Cortex Debug",
+            "cwd": "${workspaceRoot}",
+            "executable": "${config:BUILD_DIR}/bin/${config:TARGET}.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "device": "${config:TARGET}",
+            "configFiles": [
+                "${config:BUILD_DIR}/openocd/${config:TARGET}.cfg"
+            ],
+            "preLaunchTask": "openocd-debug-prepare",
+            "svdFile": "${config:BUILD_DIR}/svd/${config:TARGET}.svd",
+        }
+    ]
+}

dev/vscode/tasks.json

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+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "options": {
+        "env": {
+            "TARGET": "${config:TARGET}",
+        }
+    },
+    "tasks": [
+        {
+            "label": "target",
+            "type": "shell",
+            "command": "make", "args": ["-C", "${config:BUILD_DIR}", "${config:TARGET}"],
+            "problemMatcher": "$gcc",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": false,
+            }
+        },
+        {
+            "label": "flash",
+            "type": "shell",
+            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "openocd_flash_${config:TARGET}"],
+            "dependsOn": "elf"
+        },
+        {
+            "label": "svd",
+            "type": "shell",
+            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "svd_${config:TARGET}"],
+            "problemMatcher": []
+        },
+        {
+            "label": "openocd-cfg",
+            "type": "shell",
+            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "openocd_cfg_${config:TARGET}"],
+            "problemMatcher": []
+        },
+        {
+            "label": "openocd-debug-prepare",
+            "type": "shell",
+            "dependsOn": ["svd", "openocd-cfg", "flash"],
+            "problemMatcher": []
+        }
+    ]
+}