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.gitignore

 # OS
 #
 applet/
-*.DS_Store
+.DS_Store
 
 #
 # Misc
 
 # IOLogger logs
 *_log.csv
-
-# Simulation / Native
-eeprom.dat
-imgui.ini

Marlin/src/pins/pins.h

 #elif MB(BTT_E3_RRF)
   #include "stm32f4/pins_BTT_E3_RRF.h"          // STM32F4                                env:BIGTREE_E3_RRF
 #elif MB(BTT_SKR_V2_0_REV_A)
-  #include "stm32f4/pins_BTT_SKR_V2_0_REV_A.h"  // STM32F4                                env:BIGTREE_SKR_2 env:BIGTREE_SKR_2_USB
+  #include "stm32f4/pins_BTT_SKR_V2_0_REV_A.h"  // STM32F4                                env:BIGTREE_SKR_2 env:BIGTREE_SKR_2_USB env:BIGTREE_SKR_2_USB_debug
 #elif MB(BTT_SKR_V2_0_REV_B)
-  #include "stm32f4/pins_BTT_SKR_V2_0_REV_B.h"  // STM32F4                                env:BIGTREE_SKR_2 env:BIGTREE_SKR_2_USB
+  #include "stm32f4/pins_BTT_SKR_V2_0_REV_B.h"  // STM32F4                                env:BIGTREE_SKR_2 env:BIGTREE_SKR_2_USB env:BIGTREE_SKR_2_USB_debug
 #elif MB(BTT_OCTOPUS_V1_0)
   #include "stm32f4/pins_BTT_OCTOPUS_V1_0.h"    // STM32F4                                env:BIGTREE_OCTOPUS_V1 env:BIGTREE_OCTOPUS_V1_USB
 #elif MB(BTT_OCTOPUS_V1_1)

buildroot/share/PlatformIO/debugging/launch.json

+/**
+ * Remote debugging on STM32 using the "Cortex Debug" extension.
+ *
+ * Copy one or more of the configurations items below into .vscode/launch.json
+ * to add those debug options to the PlatformIO IDE "Run & Debug" panel.
+ *
+ * Examples for BigTreeTech SKR 2 (USB) and Native Simulator. Modify for your own build.
+ *
+ * NOTE: The PlatformIO extension will remove items when regenerating launch.json.
+ */
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Debug STM32 (launch)",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "cwd": "${workspaceRoot}",
+            "showDevDebugOutput": false,
+            "configFiles": [ "interface/stlink.cfg", "target/stm32f4x.cfg" ],
+            "device": "STM32F407",
+            "executable": ".pio/build/BIGTREE_SKR_2_USB_debug/firmware.elf",
+        },
+        {
+            "name": "Debug STM32 (attach)",
+            "request": "attach",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "cwd": "${workspaceRoot}",
+            "showDevDebugOutput": false,
+            "configFiles": [ "interface/stlink.cfg", "target/stm32f4x.cfg" ],
+            "device": "STM32F407",
+            "executable": ".pio/build/BIGTREE_SKR_2_USB_debug/firmware.elf",
+        },
+        {
+            "name": "Debug Sim",
+            "request": "launch",
+            "type": "cppdbg",
+            "cwd": "${workspaceRoot}",
+            //"program": ".pio/build/simulator_linux_debug/MarlinSimulator",
+            //"program": ".pio/build/simulator_windows/MarlinSimulator",
+            "program": ".pio/build/simulator_macos_debug/MarlinSimulator",
+            "miDebuggerPath": "/opt/local/bin/ggdb",
+            "MIMode": "gdb"
+        }
+    ]
+}

ini/native.ini

 #
 # Tested with Linux (Mint 20) : gcc [9.3.0, 10.2.0]: libsdl2-dev[2.0.10], libsdl2-net-dev[2.0.1], libglm-dev[0.9.9.7, 0.9.9.8]
 #
-# Debugging with gdb in vscode is as easy as adding the launch task as usual, but platformio
-# will randomly remove your task when it recreates its tasks from a template. Add your gdb
-# launch task to '~/.platformio/penv/lib/python{PYTHON_VERSION}/site-packages/platformio/ide/tpls/vscode/.vscode'
-# to avoid this until platformio updates.
+# For VSCode debugging see buildroot/share/PlatformIO/debugging/launch.json
 #
 [simulator_common]
 platform          = native
 debug_build_flags = -fstack-protector-strong -g -g3 -ggdb
 lib_compat_mode   = off
 src_filter        = ${common.default_src_filter} +<src/HAL/NATIVE_SIM>
-
 lib_deps          = ${common.lib_deps}
   MarlinSimUI=https://github.com/p3p/MarlinSimUI/archive/master.zip
   Adafruit NeoPixel=https://github.com/p3p/Adafruit_NeoPixel/archive/marlin_sim_native.zip
 extra_scripts = ${common.extra_scripts}
   pre:buildroot/share/PlatformIO/scripts/simulator.py
 
-
 [simulator_linux]
 extends     = simulator_common
 build_flags = ${simulator_common.build_flags} -ldl -lpthread -lSDL2 -lSDL2_net -lGL
 # Use 'sudo port install mesa' to get a <GL/gl.h> if no Xcode is installed.
 # If Xcode is installed be sure to run `xcode-select --install` first.
 #
-# For VSCode debugging paste the block below near the top of launch.json.
-# NOTE: The PlatformIO VSCode extension will remove it when regenerating launch.json.
-#
-# { "name": "Debug Sim",
-#   "type": "cppdbg",
-#   "request": "launch",
-#   "program": "${workspaceFolder}/.pio/build/simulator_macos/MarlinSimulator",
-#   "miDebuggerPath": "/opt/local/bin/ggdb",
-#   "MIMode": "gdb",
-#   "cwd": "${workspaceFolder}/.pio/build/simulator_macos" },
-#
 [simulator_macos]
 build_unflags     = -lGL
 custom_verbose    = 0

ini/stm32f1-maple.ini

 board                = genericSTM32F103VE
 build_flags          = ${common_stm32f1.build_flags}
   -ffunction-sections -fdata-sections -nostdlib -MMD
-  -DMCU_STM32F103VE -DARDUINO_GENERIC_STM32F103V -DARDUINO_ARCH_STM32F1 -O0
+  -DMCU_STM32F103VE -DARDUINO_GENERIC_STM32F103V -DARDUINO_ARCH_STM32F1
   -DDEBUG_LEVEL=DEBUG_NONE -DCONFIG_MAPLE_MINI_NO_DISABLE_DEBUG=1
   -DSS_TIMER=4
 board_build.variant  = MARLIN_F103Vx

ini/stm32f4.ini

                               -DUSBD_IRQ_PRIO=5 -DUSBD_IRQ_SUBPRIO=6
                               -DHSE_VALUE=8000000U -DHAL_SD_MODULE_ENABLED
                               -DPIN_SERIAL3_RX=PD_9 -DPIN_SERIAL3_TX=PD_8
+upload_protocol             = stlink
 
 #
 # BigTreeTech SKR V2.0 (STM32F407VGT6 ARM Cortex-M4) with USB Media Share Support
 build_flags       = ${env:BIGTREE_SKR_2.build_flags} -DUSBD_USE_CDC_MSC
 build_unflags     = ${env:BIGTREE_SKR_2.build_unflags} -DUSBD_USE_CDC
 
+[env:BIGTREE_SKR_2_USB_debug]
+platform          = ${common_stm32.platform}
+extends           = env:BIGTREE_SKR_2_USB
+build_flags       = ${env:BIGTREE_SKR_2_USB.build_flags} -O0
+build_unflags     = ${env:BIGTREE_SKR_2_USB.build_unflags} -Os -NDEBUG
+
 #
 # BigTreeTech Octopus V1.0/1.1 / Octopus Pro V1.0 (STM32F446ZET6 ARM Cortex-M4)
 #