Anybody done any work with the @MicrochipTech PIC in-system debug protocol? PIC32 is just standard EJTAG but the rest are proprietary. ICSP seems to be documented, but I can't find any info I'd need to build a third-party debug probe.
It's actually *software*, at least on some PICs (with fairly trivial hardware support): https://retired.beyondlogic.org/pic/f877-6bk.pdf …
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You'll probably need to reverse engineer the small debugger stub inserted by Microchip's tools to get all the details, but that PDF should get you started on the general idea.
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