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  • Build Zephyr project with DEBUG_THREAD_INFO (2.6.x) or OPENOCD_SUPPORT (2.5.x and lower)
  • Use (or build) an openocd version that supports Zephyr RTOS https://github.com/zephyrproject-rtos/openocd. On Arch Linux you can use https://aur.archlinux.org/packages/openocd-zephyr-git
  • Configure your openocd to look for Zephyr symbols: openocd-zephyr -f openocd.cfg -c "nrf52.cpu configure -rtos Zephyr"
  • Run gdb, and let it connect to openocd: arm-none-eabi-gdb build/zephyr/zephyr.elf -ex 'target remote :3333'
  • Et voila: GDB with Zephyr support