memo openocd with picoprobe:

install libhidapi:
apt install libhidapi-dev

when compiling openocd, you need to add support for cmsis-dap :
./configure --enable-cmsis-dap

openocd use example:
sudo openocd -f interface/cmsis-dap.cfg -c "adapter speed 5000" -f target/rp2040.cfg -c "program blink.elf verify reset exit"

for vscode to work:
usermod -aG plugdev user
add openocd udev rules (just google it)

in the project folder add:
.vscode/launch.json
{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "Pico Debug",
            "cwd": "${workspaceRoot}",
            "executable": "${command:cmake.launchTargetPath}",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "openocd",
            // This may need to be "arm-none-eabi-gdb" / "gdb-multiarch" for some previous builds
            "gdbPath" : "gdb-multiarch",
            "device": "RP2040",
            "configFiles": [
                "interface/cmsis-dap.cfg",
                "target/rp2040.cfg"
            ],
            "openOCDLaunchCommands": ["adapter speed 5000"],
            "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
            "runToEntryPoint": "main",
            // Work around for stopping at main on restart
            "postRestartCommands": [
                "break main",
                "continue"
            ]
        }
    ]
}

.vscode/settings.json
{
    // These settings tweaks to the cmake plugin will ensure
    // that you debug using cortex-debug instead of trying to launch
    // a Pico binary on the host
    "cmake.statusbar.advanced": {
        "debug": {
            "visibility": "hidden"
        },
        "launch": {
            "visibility": "hidden"
        },
        "build": {
            "visibility": "hidden"
        },
        "buildTarget": {
            "visibility": "hidden"
        }
    },
    "cmake.buildBeforeRun": true,
    "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
    "cortex-debug.objdumpPath": "/usr/bin/arm-none-eabi-objdump",
    "cortex-debug.gdbPath": "gdb-multiarch",
    "files.associations": {
        "queue.h": "c"
    }
}