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I can see that OpenOCD is RTOS aware and it supports FreeRTOS, which I'm using at the moment.

I have looked at various sources and cannot seem to figure how to use this feature.

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Indeed the documentation for this amazing feature is rather poor, however there is a guide for ChibiOS. Basically this boils down to:

  1. pass -rtos auto to {TARGET_NAME}.cpu configure in the Tcl configuration script
  2. use thread commands in gdb, where info threads is the probably the one you will use most
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    \$\begingroup\$ For those struggling (like me); here is how to start openocd for smt32f4 discovery: openocd -f /usr/share/openocd/scripts/board/stm32f4discovery.cfg -c "stm32f4x.cpu configure -rtos auto" \$\endgroup\$ Commented Nov 16, 2016 at 12:53

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