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Pico JTag
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From regional-training
https://projects-raspberry.com/need-a-jtag-adapter-use-your-pico/
https://hackaday.com/2022/04/11/need-a-jtag-adapter-use-your-pico/
https://github.com/kholia/xvc-pico/tree/master/firmware
https://github.com/phdussud/pico-dirtyJtag/
https://openocd.org/files/thesis.pdf
See also
raspberry PIO
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