add support for jlink as transport for openocd

though menu selection does not seem to work with debug script. Though
this is probably IDE issue.

boards.txt

@@ -20,6 +20,7 @@ menu.opt=Optimize
 menu.maxqspi=Max QSPI
 menu.usbstack=USB Stack
 menu.debug=Debug
+menu.debugger=Debugger
 
 # -----------------------------------
 # Adafruit Feather M0 (SAMD21)
@@ -52,7 +53,6 @@ adafruit_feather_m0.build.board=SAMD_ZERO
 adafruit_feather_m0.build.core=arduino
 adafruit_feather_m0.build.extra_flags=-D__SAMD21G18A__ -DADAFRUIT_FEATHER_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_feather_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_feather_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_feather_m0.build.variant=feather_m0
 adafruit_feather_m0.build.variant_system_lib=
 adafruit_feather_m0.build.vid=0x239A
@@ -82,6 +82,11 @@ adafruit_feather_m0.menu.debug.off=Off
 adafruit_feather_m0.menu.debug.on=On
 adafruit_feather_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_feather_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_feather_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_feather_m0.menu.debugger.jlink=J-Link
+adafruit_feather_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Feather M0 Express (SAMD21)
@@ -112,7 +117,6 @@ adafruit_feather_m0_express.build.board=SAMD_FEATHER_M0_EXPRESS
 adafruit_feather_m0_express.build.core=arduino
 adafruit_feather_m0_express.build.extra_flags=-D__SAMD21G18A__ -DARDUINO_SAMD_FEATHER_M0 -DADAFRUIT_FEATHER_M0_EXPRESS -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_feather_m0_express.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_feather_m0_express.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_feather_m0_express.build.variant=feather_m0_express
 adafruit_feather_m0_express.build.variant_system_lib=
 adafruit_feather_m0_express.build.vid=0x239A
@@ -142,6 +146,11 @@ adafruit_feather_m0_express.menu.debug.off=Off
 adafruit_feather_m0_express.menu.debug.on=On
 adafruit_feather_m0_express.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_feather_m0_express.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_feather_m0_express.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_feather_m0_express.menu.debugger.jlink=J-Link
+adafruit_feather_m0_express.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Metro M0 Express (SAMD21)
@@ -172,7 +181,6 @@ adafruit_metro_m0.build.board=SAMD_ZERO
 adafruit_metro_m0.build.core=arduino
 adafruit_metro_m0.build.extra_flags=-D__SAMD21G18A__ -DADAFRUIT_METRO_M0_EXPRESS -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_metro_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_metro_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_metro_m0.build.variant=metro_m0
 adafruit_metro_m0.build.variant_system_lib=
 adafruit_metro_m0.build.vid=0x239A
@@ -202,6 +210,11 @@ adafruit_metro_m0.menu.debug.off=Off
 adafruit_metro_m0.menu.debug.on=On
 adafruit_metro_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_metro_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_metro_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_metro_m0.menu.debugger.jlink=J-Link
+adafruit_metro_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Circuit Playground Express (SAMD21)
@@ -232,7 +245,6 @@ adafruit_circuitplayground_m0.build.board=SAMD_CIRCUITPLAYGROUND_EXPRESS
 adafruit_circuitplayground_m0.build.core=arduino
 adafruit_circuitplayground_m0.build.extra_flags=-D__SAMD21G18A__ -DCRYSTALLESS -DADAFRUIT_CIRCUITPLAYGROUND_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_circuitplayground_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_circuitplayground_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_circuitplayground_m0.build.variant=circuitplay
 adafruit_circuitplayground_m0.build.variant_system_lib=
 adafruit_circuitplayground_m0.build.vid=0x239A
@@ -262,6 +274,11 @@ adafruit_circuitplayground_m0.menu.debug.off=Off
 adafruit_circuitplayground_m0.menu.debug.on=On
 adafruit_circuitplayground_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_circuitplayground_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_circuitplayground_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_circuitplayground_m0.menu.debugger.jlink=J-Link
+adafruit_circuitplayground_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Gemma M0 (SAMD21)
@@ -292,7 +309,6 @@ adafruit_gemma_m0.build.board=GEMMA_M0
 adafruit_gemma_m0.build.core=arduino
 adafruit_gemma_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_GEMMA_M0 -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_gemma_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_gemma_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_gemma_m0.build.variant=gemma_m0
 adafruit_gemma_m0.build.variant_system_lib=
 adafruit_gemma_m0.build.vid=0x239A
@@ -322,6 +338,11 @@ adafruit_gemma_m0.menu.debug.off=Off
 adafruit_gemma_m0.menu.debug.on=On
 adafruit_gemma_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_gemma_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_gemma_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_gemma_m0.menu.debugger.jlink=J-Link
+adafruit_gemma_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Trinket M0 (SAMD21)
@@ -352,7 +373,6 @@ adafruit_trinket_m0.build.board=TRINKET_M0
 adafruit_trinket_m0.build.core=arduino
 adafruit_trinket_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_TRINKET_M0 -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_trinket_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_trinket_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_trinket_m0.build.variant=trinket_m0
 adafruit_trinket_m0.build.variant_system_lib=
 adafruit_trinket_m0.build.vid=0x239A
@@ -382,6 +402,11 @@ adafruit_trinket_m0.menu.debug.off=Off
 adafruit_trinket_m0.menu.debug.on=On
 adafruit_trinket_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_trinket_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_trinket_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_trinket_m0.menu.debugger.jlink=J-Link
+adafruit_trinket_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit QT Py M0 (SAMD21)
@@ -414,7 +439,6 @@ adafruit_qtpy_m0.build.board=QTPY_M0
 adafruit_qtpy_m0.build.core=arduino
 adafruit_qtpy_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_QTPY_M0 -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_qtpy_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_qtpy_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_qtpy_m0.build.variant=qtpy_m0
 adafruit_qtpy_m0.build.variant_system_lib=
 adafruit_qtpy_m0.build.vid=0x239A
@@ -444,6 +468,11 @@ adafruit_qtpy_m0.menu.debug.off=Off
 adafruit_qtpy_m0.menu.debug.on=On
 adafruit_qtpy_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_qtpy_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_qtpy_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_qtpy_m0.menu.debugger.jlink=J-Link
+adafruit_qtpy_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit NeoPixel Trinkey M0 (SAMD21)
@@ -476,7 +505,6 @@ adafruit_neotrinkey_m0.build.board=NEOTRINKEY_M0
 adafruit_neotrinkey_m0.build.core=arduino
 adafruit_neotrinkey_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_NEOTRINKEY_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_neotrinkey_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_neotrinkey_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_neotrinkey_m0.build.variant=neotrinkey_m0
 adafruit_neotrinkey_m0.build.variant_system_lib=
 adafruit_neotrinkey_m0.build.vid=0x239A
@@ -506,6 +534,11 @@ adafruit_neotrinkey_m0.menu.debug.off=Off
 adafruit_neotrinkey_m0.menu.debug.on=On
 adafruit_neotrinkey_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_neotrinkey_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_neotrinkey_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_neotrinkey_m0.menu.debugger.jlink=J-Link
+adafruit_neotrinkey_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Rotary Trinkey M0 (SAMD21)
@@ -538,7 +571,6 @@ adafruit_rotarytrinkey_m0.build.board=ROTARYTRINKEY_M0
 adafruit_rotarytrinkey_m0.build.core=arduino
 adafruit_rotarytrinkey_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_ROTARYTRINKEY_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_rotarytrinkey_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_rotarytrinkey_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_rotarytrinkey_m0.build.variant=rotarytrinkey_m0
 adafruit_rotarytrinkey_m0.build.variant_system_lib=
 adafruit_rotarytrinkey_m0.build.vid=0x239A
@@ -568,6 +600,11 @@ adafruit_rotarytrinkey_m0.menu.debug.off=Off
 adafruit_rotarytrinkey_m0.menu.debug.on=On
 adafruit_rotarytrinkey_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_rotarytrinkey_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_rotarytrinkey_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_rotarytrinkey_m0.menu.debugger.jlink=J-Link
+adafruit_rotarytrinkey_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit NeoKey Trinkey M0 (SAMD21)
@@ -600,7 +637,6 @@ adafruit_neokeytrinkey_m0.build.board=NEOKEYTRINKEY_M0
 adafruit_neokeytrinkey_m0.build.core=arduino
 adafruit_neokeytrinkey_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_NEOKEYTRINKEY_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_neokeytrinkey_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_neokeytrinkey_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_neokeytrinkey_m0.build.variant=neokeytrinkey_m0
 adafruit_neokeytrinkey_m0.build.variant_system_lib=
 adafruit_neokeytrinkey_m0.build.vid=0x239A
@@ -630,6 +666,11 @@ adafruit_neokeytrinkey_m0.menu.debug.off=Off
 adafruit_neokeytrinkey_m0.menu.debug.on=On
 adafruit_neokeytrinkey_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_neokeytrinkey_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_neokeytrinkey_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_neokeytrinkey_m0.menu.debugger.jlink=J-Link
+adafruit_neokeytrinkey_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Slide Trinkey M0 (SAMD21)
@@ -662,7 +703,6 @@ adafruit_slidetrinkey_m0.build.board=SLIDETRINKEY_M0
 adafruit_slidetrinkey_m0.build.core=arduino
 adafruit_slidetrinkey_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_SLIDETRINKEY_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_slidetrinkey_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_slidetrinkey_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_slidetrinkey_m0.build.variant=slidetrinkey_m0
 adafruit_slidetrinkey_m0.build.variant_system_lib=
 adafruit_slidetrinkey_m0.build.vid=0x239A
@@ -692,6 +732,11 @@ adafruit_slidetrinkey_m0.menu.debug.off=Off
 adafruit_slidetrinkey_m0.menu.debug.on=On
 adafruit_slidetrinkey_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_slidetrinkey_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_slidetrinkey_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_slidetrinkey_m0.menu.debugger.jlink=J-Link
+adafruit_slidetrinkey_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit ProxLight Trinkey M0 (SAMD21)
@@ -724,7 +769,6 @@ adafruit_proxlighttrinkey_m0.build.board=PROXLIGHTTRINKEY_M0
 adafruit_proxlighttrinkey_m0.build.core=arduino
 adafruit_proxlighttrinkey_m0.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_PROXLIGHTTRINKEY_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_proxlighttrinkey_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_proxlighttrinkey_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_proxlighttrinkey_m0.build.variant=proxlighttrinkey_m0
 adafruit_proxlighttrinkey_m0.build.variant_system_lib=
 adafruit_proxlighttrinkey_m0.build.vid=0x239A
@@ -754,6 +798,11 @@ adafruit_proxlighttrinkey_m0.menu.debug.off=Off
 adafruit_proxlighttrinkey_m0.menu.debug.on=On
 adafruit_proxlighttrinkey_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_proxlighttrinkey_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_proxlighttrinkey_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_proxlighttrinkey_m0.menu.debugger.jlink=J-Link
+adafruit_proxlighttrinkey_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit ItsyBitsy M0 Express (SAMD21)
@@ -786,7 +835,6 @@ adafruit_itsybitsy_m0.build.board=ITSYBITSY_M0
 adafruit_itsybitsy_m0.build.core=arduino
 adafruit_itsybitsy_m0.build.extra_flags=-D__SAMD21G18A__ -DCRYSTALLESS -DADAFRUIT_ITSYBITSY_M0 -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_itsybitsy_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_itsybitsy_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_itsybitsy_m0.build.variant=itsybitsy_m0
 adafruit_itsybitsy_m0.build.variant_system_lib=
 adafruit_itsybitsy_m0.build.vid=0x239A
@@ -816,6 +864,11 @@ adafruit_itsybitsy_m0.menu.debug.off=Off
 adafruit_itsybitsy_m0.menu.debug.on=On
 adafruit_itsybitsy_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_itsybitsy_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_itsybitsy_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_itsybitsy_m0.menu.debugger.jlink=J-Link
+adafruit_itsybitsy_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit pIRKey (SAMD21)
@@ -848,7 +901,6 @@ adafruit_pirkey.build.board=PIRKEY
 adafruit_pirkey.build.core=arduino
 adafruit_pirkey.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_PIRKEY -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_pirkey.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_pirkey.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_pirkey.build.variant=pirkey
 adafruit_pirkey.build.variant_system_lib=
 adafruit_pirkey.build.vid=0x239A
@@ -878,6 +930,11 @@ adafruit_pirkey.menu.debug.off=Off
 adafruit_pirkey.menu.debug.on=On
 adafruit_pirkey.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_pirkey.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_pirkey.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_pirkey.menu.debugger.jlink=J-Link
+adafruit_pirkey.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Hallowing M0 (SAMD21)
@@ -910,7 +967,6 @@ adafruit_hallowing.build.board=SAMD_HALLOWING
 adafruit_hallowing.build.core=arduino
 adafruit_hallowing.build.extra_flags=-D__SAMD21G18A__ -DCRYSTALLESS -DARDUINO_SAMD_HALLOWING_M0 -DADAFRUIT_HALLOWING -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_hallowing.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_hallowing.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_hallowing.build.variant=hallowing_m0_express
 adafruit_hallowing.build.variant_system_lib=
 adafruit_hallowing.build.vid=0x239A
@@ -940,6 +996,11 @@ adafruit_hallowing.menu.debug.off=Off
 adafruit_hallowing.menu.debug.on=On
 adafruit_hallowing.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_hallowing.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_hallowing.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_hallowing.menu.debugger.jlink=J-Link
+adafruit_hallowing.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Crickit M0 (SAMD21)
@@ -972,7 +1033,6 @@ adafruit_crickit_m0.build.board=CRICKIT_M0
 adafruit_crickit_m0.build.core=arduino
 adafruit_crickit_m0.build.extra_flags=-D__SAMD21G18A__ -DCRYSTALLESS -DADAFRUIT_CRICKIT_M0 -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_crickit_m0.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_crickit_m0.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_crickit_m0.build.variant=crickit_m0
 adafruit_crickit_m0.build.variant_system_lib=
 adafruit_crickit_m0.build.vid=0x239A
@@ -1002,6 +1062,11 @@ adafruit_crickit_m0.menu.debug.off=Off
 adafruit_crickit_m0.menu.debug.on=On
 adafruit_crickit_m0.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_crickit_m0.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_crickit_m0.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_crickit_m0.menu.debugger.jlink=J-Link
+adafruit_crickit_m0.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit BLM Badge (SAMD21)
@@ -1034,7 +1099,6 @@ adafruit_blm_badge.build.board=BLM_BADGE_M0
 adafruit_blm_badge.build.core=arduino
 adafruit_blm_badge.build.extra_flags=-D__SAMD21E18A__ -DCRYSTALLESS -DADAFRUIT_BLM_BADGE -DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS {build.usb_flags}
 adafruit_blm_badge.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_blm_badge.build.openocdscript=scripts/openocd/samd2x.cfg
 adafruit_blm_badge.build.variant=blm_badge
 adafruit_blm_badge.build.variant_system_lib=
 adafruit_blm_badge.build.vid=0x239A
@@ -1064,6 +1128,11 @@ adafruit_blm_badge.menu.debug.off=Off
 adafruit_blm_badge.menu.debug.on=On
 adafruit_blm_badge.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_blm_badge.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_blm_badge.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd21.cfg
+adafruit_blm_badge.menu.debugger.jlink=J-Link
+adafruit_blm_badge.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd21.cfg
 
 # -----------------------------------
 # Adafruit Metro M4 (SAMD51)
@@ -1098,7 +1167,6 @@ adafruit_metro_m4.build.board=METRO_M4
 adafruit_metro_m4.build.core=arduino
 adafruit_metro_m4.build.extra_flags=-D__SAMD51J19A__ -DADAFRUIT_METRO_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_metro_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_metro_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_metro_m4.build.variant=metro_m4
 adafruit_metro_m4.build.variant_system_lib=
 adafruit_metro_m4.build.vid=0x239A
@@ -1151,6 +1219,11 @@ adafruit_metro_m4.menu.debug.off=Off
 adafruit_metro_m4.menu.debug.on=On
 adafruit_metro_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_metro_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_metro_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_metro_m4.menu.debugger.jlink=J-Link
+adafruit_metro_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit Grand Central M4 (SAMD51)
@@ -1183,7 +1256,6 @@ adafruit_grandcentral_m4.build.board=GRAND_CENTRAL_M4
 adafruit_grandcentral_m4.build.core=arduino
 adafruit_grandcentral_m4.build.extra_flags=-D__SAMD51P20A__ -DADAFRUIT_GRAND_CENTRAL_M4 -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_grandcentral_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_grandcentral_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_grandcentral_m4.build.variant=grand_central_m4
 adafruit_grandcentral_m4.build.variant_system_lib=
 adafruit_grandcentral_m4.build.vid=0x239A
@@ -1236,6 +1308,11 @@ adafruit_grandcentral_m4.menu.debug.off=Off
 adafruit_grandcentral_m4.menu.debug.on=On
 adafruit_grandcentral_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_grandcentral_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_grandcentral_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_grandcentral_m4.menu.debugger.jlink=J-Link
+adafruit_grandcentral_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit ItsyBitsy M4 (SAMD51)
@@ -1266,7 +1343,6 @@ adafruit_itsybitsy_m4.build.board=ITSYBITSY_M4
 adafruit_itsybitsy_m4.build.core=arduino
 adafruit_itsybitsy_m4.build.extra_flags=-D__SAMD51G19A__ -DCRYSTALLESS -DADAFRUIT_ITSYBITSY_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_itsybitsy_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_itsybitsy_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_itsybitsy_m4.build.variant=itsybitsy_m4
 adafruit_itsybitsy_m4.build.variant_system_lib=
 adafruit_itsybitsy_m4.build.vid=0x239A
@@ -1319,6 +1395,11 @@ adafruit_itsybitsy_m4.menu.debug.off=Off
 adafruit_itsybitsy_m4.menu.debug.on=On
 adafruit_itsybitsy_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_itsybitsy_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_itsybitsy_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_itsybitsy_m4.menu.debugger.jlink=J-Link
+adafruit_itsybitsy_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit Feather M4 Express (SAMD51)
@@ -1351,7 +1432,6 @@ adafruit_feather_m4.build.board=FEATHER_M4
 adafruit_feather_m4.build.core=arduino
 adafruit_feather_m4.build.extra_flags=-D__SAMD51J19A__ -DADAFRUIT_FEATHER_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_feather_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_feather_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_feather_m4.build.variant=feather_m4
 adafruit_feather_m4.build.variant_system_lib=
 adafruit_feather_m4.build.vid=0x239A
@@ -1404,6 +1484,11 @@ adafruit_feather_m4.menu.debug.off=Off
 adafruit_feather_m4.menu.debug.on=On
 adafruit_feather_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_feather_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_feather_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_feather_m4.menu.debugger.jlink=J-Link
+adafruit_feather_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit Feather M4 CAN (SAME51)
@@ -1434,7 +1519,6 @@ adafruit_feather_m4_can.build.board=FEATHER_M4_CAN
 adafruit_feather_m4_can.build.core=arduino
 adafruit_feather_m4_can.build.extra_flags=-D__SAME51J19A__ -DADAFRUIT_FEATHER_M4_EXPRESS -DADAFRUIT_FEATHER_M4_CAN -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_feather_m4_can.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_feather_m4_can.build.openocdscript=scripts/openocd/same5x.cfg
 adafruit_feather_m4_can.build.variant=feather_m4_can
 adafruit_feather_m4_can.build.variant_system_lib=
 adafruit_feather_m4_can.build.vid=0x239A
@@ -1487,6 +1571,11 @@ adafruit_feather_m4_can.menu.debug.off=Off
 adafruit_feather_m4_can.menu.debug.on=On
 adafruit_feather_m4_can.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_feather_m4_can.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_feather_m4_can.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_feather_m4_can.menu.debugger.jlink=J-Link
+adafruit_feather_m4_can.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit Trellis M4 (SAMD51)
@@ -1519,7 +1608,6 @@ adafruit_trellis_m4.build.board=TRELLIS_M4
 adafruit_trellis_m4.build.core=arduino
 adafruit_trellis_m4.build.extra_flags=-D__SAMD51G19A__ -DCRYSTALLESS -DADAFRUIT_TRELLIS_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_trellis_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_trellis_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_trellis_m4.build.variant=trellis_m4
 adafruit_trellis_m4.build.variant_system_lib=
 adafruit_trellis_m4.build.vid=0x239A
@@ -1572,6 +1660,11 @@ adafruit_trellis_m4.menu.debug.off=Off
 adafruit_trellis_m4.menu.debug.on=On
 adafruit_trellis_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_trellis_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_trellis_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_trellis_m4.menu.debugger.jlink=J-Link
+adafruit_trellis_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit PyPortal M4 (SAMD51)
@@ -1604,7 +1697,6 @@ adafruit_pyportal_m4.build.board=PYPORTAL_M4
 adafruit_pyportal_m4.build.core=arduino
 adafruit_pyportal_m4.build.extra_flags=-D__SAMD51J20A__ -DCRYSTALLESS -DADAFRUIT_PYPORTAL -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_pyportal_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_pyportal_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_pyportal_m4.build.variant=pyportal_m4
 adafruit_pyportal_m4.build.variant_system_lib=
 adafruit_pyportal_m4.build.vid=0x239A
@@ -1657,6 +1749,11 @@ adafruit_pyportal_m4.menu.debug.off=Off
 adafruit_pyportal_m4.menu.debug.on=On
 adafruit_pyportal_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_pyportal_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_pyportal_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_pyportal_m4.menu.debugger.jlink=J-Link
+adafruit_pyportal_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit PyPortal M4 Titano (SAMD51)
@@ -1687,7 +1784,6 @@ adafruit_pyportal_m4_titano.build.board=PYPORTAL_M4_TITANO
 adafruit_pyportal_m4_titano.build.core=arduino
 adafruit_pyportal_m4_titano.build.extra_flags=-D__SAMD51J20A__ -DCRYSTALLESS -DADAFRUIT_PYPORTAL_M4_TITANO -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_pyportal_m4_titano.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_pyportal_m4_titano.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_pyportal_m4_titano.build.variant=pyportal_m4_titano
 adafruit_pyportal_m4_titano.build.variant_system_lib=
 adafruit_pyportal_m4_titano.build.vid=0x239A
@@ -1740,6 +1836,11 @@ adafruit_pyportal_m4_titano.menu.debug.off=Off
 adafruit_pyportal_m4_titano.menu.debug.on=On
 adafruit_pyportal_m4_titano.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_pyportal_m4_titano.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_pyportal_m4_titano.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_pyportal_m4_titano.menu.debugger.jlink=J-Link
+adafruit_pyportal_m4_titano.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit pyBadge M4 Express (SAMD51)
@@ -1774,7 +1875,6 @@ adafruit_pybadge_m4.build.board=PYBADGE_M4
 adafruit_pybadge_m4.build.core=arduino
 adafruit_pybadge_m4.build.extra_flags=-D__SAMD51J19A__ -DCRYSTALLESS -DADAFRUIT_PYBADGE_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_pybadge_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_pybadge_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_pybadge_m4.build.variant=pybadge_m4
 adafruit_pybadge_m4.build.variant_system_lib=
 adafruit_pybadge_m4.build.vid=0x239A
@@ -1827,6 +1927,11 @@ adafruit_pybadge_m4.menu.debug.off=Off
 adafruit_pybadge_m4.menu.debug.on=On
 adafruit_pybadge_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_pybadge_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_pybadge_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_pybadge_m4.menu.debugger.jlink=J-Link
+adafruit_pybadge_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit Metro M4 AirLift Lite (SAMD51)
@@ -1857,7 +1962,6 @@ adafruit_metro_m4_airliftlite.build.board=METRO_M4_AIRLIFT_LITE
 adafruit_metro_m4_airliftlite.build.core=arduino
 adafruit_metro_m4_airliftlite.build.extra_flags=-D__SAMD51J19A__ -DADAFRUIT_METRO_M4_AIRLIFT_LITE -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_metro_m4_airliftlite.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_metro_m4_airliftlite.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_metro_m4_airliftlite.build.variant=metro_m4_airlift
 adafruit_metro_m4_airliftlite.build.variant_system_lib=
 adafruit_metro_m4_airliftlite.build.vid=0x239A
@@ -1910,6 +2014,11 @@ adafruit_metro_m4_airliftlite.menu.debug.off=Off
 adafruit_metro_m4_airliftlite.menu.debug.on=On
 adafruit_metro_m4_airliftlite.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_metro_m4_airliftlite.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_metro_m4_airliftlite.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_metro_m4_airliftlite.menu.debugger.jlink=J-Link
+adafruit_metro_m4_airliftlite.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit PyGamer M4 Express (SAMD51)
@@ -1942,7 +2051,6 @@ adafruit_pygamer_m4.build.board=PYGAMER_M4
 adafruit_pygamer_m4.build.core=arduino
 adafruit_pygamer_m4.build.extra_flags=-D__SAMD51J19A__ -DCRYSTALLESS -DADAFRUIT_PYGAMER_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_pygamer_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_pygamer_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_pygamer_m4.build.variant=pygamer_m4
 adafruit_pygamer_m4.build.variant_system_lib=
 adafruit_pygamer_m4.build.vid=0x239A
@@ -1995,6 +2103,11 @@ adafruit_pygamer_m4.menu.debug.off=Off
 adafruit_pygamer_m4.menu.debug.on=On
 adafruit_pygamer_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_pygamer_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_pygamer_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_pygamer_m4.menu.debugger.jlink=J-Link
+adafruit_pygamer_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit pyBadge AirLift M4 (SAMD51)
@@ -2027,7 +2140,6 @@ adafruit_pybadge_airlift_m4.build.board=PYBADGE_AIRLIFT_M4
 adafruit_pybadge_airlift_m4.build.core=arduino
 adafruit_pybadge_airlift_m4.build.extra_flags=-D__SAMD51J20A__ -DCRYSTALLESS -DADAFRUIT_PYBADGE_AIRLIFT_M4 -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_pybadge_airlift_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_pybadge_airlift_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_pybadge_airlift_m4.build.variant=pybadge_airlift_m4
 adafruit_pybadge_airlift_m4.build.variant_system_lib=
 adafruit_pybadge_airlift_m4.build.vid=0x239A
@@ -2080,6 +2192,11 @@ adafruit_pybadge_airlift_m4.menu.debug.off=Off
 adafruit_pybadge_airlift_m4.menu.debug.on=On
 adafruit_pybadge_airlift_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_pybadge_airlift_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_pybadge_airlift_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_pybadge_airlift_m4.menu.debugger.jlink=J-Link
+adafruit_pybadge_airlift_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit MONSTER M4SK (SAMD51)
@@ -2112,7 +2229,6 @@ adafruit_monster_m4sk.build.board=MONSTER_M4SK
 adafruit_monster_m4sk.build.core=arduino
 adafruit_monster_m4sk.build.extra_flags=-D__SAMD51G19A__ -DCRYSTALLESS -DADAFRUIT_MONSTER_M4SK_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_monster_m4sk.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_monster_m4sk.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_monster_m4sk.build.variant=monster_m4sk
 adafruit_monster_m4sk.build.variant_system_lib=
 adafruit_monster_m4sk.build.vid=0x239A
@@ -2165,6 +2281,11 @@ adafruit_monster_m4sk.menu.debug.off=Off
 adafruit_monster_m4sk.menu.debug.on=On
 adafruit_monster_m4sk.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_monster_m4sk.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_monster_m4sk.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_monster_m4sk.menu.debugger.jlink=J-Link
+adafruit_monster_m4sk.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit Hallowing M4 (SAMD51)
@@ -2197,7 +2318,6 @@ adafruit_hallowing_m4.build.board=HALLOWING_M4
 adafruit_hallowing_m4.build.core=arduino
 adafruit_hallowing_m4.build.extra_flags=-D__SAMD51J19A__ -DCRYSTALLESS -DADAFRUIT_HALLOWING_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_hallowing_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_hallowing_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_hallowing_m4.build.variant=hallowing_m4
 adafruit_hallowing_m4.build.variant_system_lib=
 adafruit_hallowing_m4.build.vid=0x239A
@@ -2250,6 +2370,11 @@ adafruit_hallowing_m4.menu.debug.off=Off
 adafruit_hallowing_m4.menu.debug.on=On
 adafruit_hallowing_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_hallowing_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_hallowing_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_hallowing_m4.menu.debugger.jlink=J-Link
+adafruit_hallowing_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg
 
 # -----------------------------------
 # Adafruit Matrix Portal M4 (SAMD51)
@@ -2282,7 +2407,6 @@ adafruit_matrixportal_m4.build.board=MATRIXPORTAL_M4
 adafruit_matrixportal_m4.build.core=arduino
 adafruit_matrixportal_m4.build.extra_flags=-D__SAMD51J19A__ -DCRYSTALLESS  -DADAFRUIT_MATRIXPORTAL_M4_EXPRESS -D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 {build.usb_flags}
 adafruit_matrixportal_m4.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
-adafruit_matrixportal_m4.build.openocdscript=scripts/openocd/samd5x.cfg
 adafruit_matrixportal_m4.build.variant=matrixportal_m4
 adafruit_matrixportal_m4.build.variant_system_lib=
 adafruit_matrixportal_m4.build.vid=0x239A
@@ -2335,3 +2459,8 @@ adafruit_matrixportal_m4.menu.debug.off=Off
 adafruit_matrixportal_m4.menu.debug.on=On
 adafruit_matrixportal_m4.menu.debug.on.build.flags.debug=-g
 
+# Menu: Debugger
+adafruit_matrixportal_m4.menu.debugger.daplink=CMSIS-DAP (DAPLink)
+adafruit_matrixportal_m4.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_samd51.cfg
+adafruit_matrixportal_m4.menu.debugger.jlink=J-Link
+adafruit_matrixportal_m4.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_samd51.cfg

platform.txt

@@ -179,7 +179,7 @@ tools.openocd.cmd.windows=bin/openocd.exe
 
 tools.openocd.upload.params.verbose=-d2
 tools.openocd.upload.params.quiet=-d0
-tools.openocd.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset 0x2000; shutdown"
+tools.openocd.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset 0x2000; shutdown"
 
 tools.openocd.network_cmd={runtime.tools.arduinoOTA.path}/bin/arduinoOTA
 tools.openocd.upload.network_pattern={network_cmd} -address {serial.port} -port 65280 -username arduino -password "{network.password}" -sketch "{build.path}/{build.project_name}.bin" -upload /sketch -b
@@ -187,7 +187,7 @@ tools.openocd.upload.network_pattern={network_cmd} -address {serial.port} -port
 # Program flashes the binary at 0x0000, so use the linker script without_bootloader
 tools.openocd.program.params.verbose=-d2
 tools.openocd.program.params.quiet=-d0
-tools.openocd.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
+tools.openocd.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
 
 tools.openocd.erase.params.verbose=-d3
 tools.openocd.erase.params.quiet=-d0
@@ -195,7 +195,7 @@ tools.openocd.erase.pattern=
 
 tools.openocd.bootloader.params.verbose=-d2
 tools.openocd.bootloader.params.quiet=-d0
-tools.openocd.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
+tools.openocd.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
 
 #
 # OpenOCD sketch upload - version with configurable bootloader size
@@ -208,12 +208,12 @@ tools.openocd-withbootsize.cmd.windows=bin/openocd.exe
 
 tools.openocd-withbootsize.upload.params.verbose=-d2
 tools.openocd-withbootsize.upload.params.quiet=-d0
-tools.openocd-withbootsize.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset {bootloader.size}; shutdown"
+tools.openocd-withbootsize.upload.pattern="{path}/{cmd}" {upload.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.bin} verify reset {bootloader.size}; shutdown"
 
 # Program flashes the binary at 0x0000, so use the linker script without_bootloader
 tools.openocd-withbootsize.program.params.verbose=-d2
 tools.openocd-withbootsize.program.params.quiet=-d0
-tools.openocd-withbootsize.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
+tools.openocd-withbootsize.program.pattern="{path}/{cmd}" {program.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; program {{build.path}/{build.project_name}.elf} verify reset; shutdown"
 
 tools.openocd-withbootsize.erase.params.verbose=-d3
 tools.openocd-withbootsize.erase.params.quiet=-d0
@@ -221,7 +221,7 @@ tools.openocd-withbootsize.erase.pattern=
 
 tools.openocd-withbootsize.bootloader.params.verbose=-d2
 tools.openocd-withbootsize.bootloader.params.quiet=-d0
-tools.openocd-withbootsize.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/variants/{build.variant}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
+tools.openocd-withbootsize.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -s "{path}/share/openocd/scripts/" -f "{runtime.platform.path}/{build.openocdscript}" -c "telnet_port disabled; init; halt; at91samd bootloader 0; program {{runtime.platform.path}/bootloaders/{bootloader.file}} verify reset; shutdown"
 
 # ----------------------------------------
 # Debugger configuration (general options)
@@ -232,13 +232,17 @@ debug.executable={build.path}/{build.project_name}.elf
 debug.toolchain=gcc
 debug.toolchain.path={runtime.tools.arm-none-eabi-gcc.path}/bin/
 debug.toolchain.prefix=arm-none-eabi-
+
 debug.server=openocd
 debug.server.openocd.path={runtime.tools.openocd.path}/bin/openocd
 debug.server.openocd.scripts_dir={runtime.tools.openocd.path}/share/openocd/scripts/
 debug.server.openocd.script={runtime.platform.path}/{build.openocdscript}
 
-# jlink is not supported by arduino-cli yet, but supported by IDE
+# JLinkServer is not supported by arduino-cli yet
+#   https://github.com/arduino/arduino-cli/blob/eca9d9a8f00582a08fadea8a4b7e3ef01b40d082/commands/debug/debug.go#L160
+# use debug_custom.json to run JLinkGDBServer instead
+#   https://docs.arduino.cc/tutorials/mkr-wifi-1010/mkr-jlink-setup
 #debug.server=jlink
-#debug.server.jlink.path={runtime.tools.openocd.path}/bin/openocd
-#debug.server.jlink.scripts_dir={runtime.tools.openocd.path}/share/openocd/scripts/
+#debug.server.jlink.path=JLinkGDBServer
+#debug.server.jlink.device=ATSAMD21G18
 #debug.server.jlink.script={runtime.platform.path}/{build.openocdscript}

scripts/jlink/samd21/debug_custom.json

@@ -0,0 +1,6 @@
+{
+  "servertype": "jlink",
+  "device": "ATSAMD21G18A",
+  "interface": "SWD",
+  "serverpath": "JLinkGDBServer"
+}

scripts/jlink/samd51/debug_custom.json

@@ -0,0 +1,6 @@
+{
+  "servertype": "jlink",
+  "device": "ATSAMD51G18",
+  "interface": "SWD",
+  "serverpath": "JLinkGDBServer"
+}

scripts/openocd/daplink_samd51.cfg

@@ -22,6 +22,6 @@ source [find interface/cmsis-dap.cfg]
 transport select swd
 
 # chip name
-set CHIPNAME same51
+set CHIPNAME samd51
 
 source [find target/atsame5x.cfg]

scripts/openocd/jlink_samd21.cfg

@@ -0,0 +1,27 @@
+#
+#  Arduino Zero OpenOCD script.
+#
+#  Copyright (c) 2014-2015 Arduino LLC.  All right reserved.
+#
+#  This library is free software; you can redistribute it and/or
+#  modify it under the terms of the GNU Lesser General Public
+#  License as published by the Free Software Foundation; either
+#  version 2.1 of the License, or (at your option) any later version.
+#
+#  This library is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+#  See the GNU Lesser General Public License for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public
+#  License along with this library; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+#
+
+source [find interface/jlink.cfg]
+transport select swd
+
+# chip name
+set CHIPNAME samd21
+
+source [find target/at91samdXX.cfg]

scripts/openocd/jlink_samd51.cfg

@@ -18,8 +18,7 @@
 #  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 #
 
-source [find interface/cmsis-dap.cfg]
-#source [find interface/jlink.cfg]
+source [find interface/jlink.cfg]
 transport select swd
 
 # chip name

tools/makeboards.py

@@ -25,7 +25,6 @@ mcu_dict = {
         'build_mcu': 'cortex-m0plus',
         'f_cpu': '48000000L',
         'extra_flags': '-DARDUINO_SAMD_ZERO -DARM_MATH_CM0PLUS',
-        'openocdscript': 'scripts/openocd/samd2x.cfg',
     },
     
     'SAMD51': {
@@ -35,7 +34,6 @@ mcu_dict = {
         'build_mcu': 'cortex-m4',
         'f_cpu': '120000000L',
         'extra_flags': '-D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16',
-        'openocdscript': 'scripts/openocd/samd5x.cfg',
     },
     
     'SAME51': {
@@ -45,7 +43,6 @@ mcu_dict = {
         'build_mcu': 'cortex-m4',
         'f_cpu': '120000000L',
         'extra_flags': '-D__SAMD51__ -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16',
-        'openocdscript': 'scripts/openocd/same5x.cfg',
     },
 }
 
@@ -106,7 +103,6 @@ def build_build(mcu, name, variant, vendor, product, vid, pid_list, boarddefine,
         print(f"{name}.build.extra_flags={extra_flags} {mcu_properties['extra_flags']} {{build.usb_flags}}")
 
     print(f"{name}.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld")
-    print(f"{name}.build.openocdscript={mcu_properties['openocdscript']}")
     print(f"{name}.build.variant={variant}")
     print(f"{name}.build.variant_system_lib=")
     print(f"{name}.build.vid={vid}")
@@ -171,6 +167,13 @@ def build_menu(mcu, name):
     print(f"{name}.menu.debug.on.build.flags.debug=-g")
     print()
 
+    print("# Menu: Debugger")
+    script_mcu = 'samd21' if mcu == 'SAMD21' else 'samd51'
+    print(f"{name}.menu.debugger.daplink=CMSIS-DAP (DAPLink)")
+    print(f"{name}.menu.debugger.daplink.build.openocdscript=scripts/openocd/daplink_{script_mcu}.cfg")
+    print(f"{name}.menu.debugger.jlink=J-Link")
+    print(f"{name}.menu.debugger.jlink.build.openocdscript=scripts/openocd/jlink_{script_mcu}.cfg")
+
 
 def build_global_menu():
     print("menu.cache=Cache")
@@ -179,6 +182,7 @@ def build_global_menu():
     print("menu.maxqspi=Max QSPI")    
     print("menu.usbstack=USB Stack")
     print("menu.debug=Debug")
+    print("menu.debugger=Debugger")
 
 
 def make_board(mcu, name, variant, vendor, product, vid, pid_list, boarddefine, extra_flags, bootloader):