安装USB驱动

在powershell中输入下面指令：

Invoke-WebRequest 'https://dl.espressif.com/dl/idf-env/idf-env.exe' -OutFile .\idf-env.exe; .\idf-env.exe driver install --espressif

参考官方网址
安装成功之后连接开发板的USB口（非串口）如下图所示：

修改工程的配置文件

参考文档：
JTAG调试
使用VS code调试

launch.json

修改为如下内容：

{
  "version": "0.2.0",
  "configurations": [
  {
      "name": "GDB",
      "type": "cppdbg",
      "request": "launch",
      "MIMode": "gdb",
      "miDebuggerPath": "${command:espIdf.getXtensaGdb}",
      "program": "${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
      "windows": {
      "program": "${workspaceFolder}\\build\\${command:espIdf.getProjectName}.elf"
      },
      "cwd": "${workspaceFolder}",
      "environment": [{ "name": "PATH", "value": "${config:idf.customExtraPaths}" }],
      "setupCommands": [
      { "text": "set remotetimeout 100" },
      { "text": "target extended-remote :3333" },
      { "text": "set remote hardware-watchpoint-limit 2"},
      { "text": "mon reset halt" },
      { "text": "thb app_main" },
      { "text": "flushregs" }
      ],
      "externalConsole": false,
      "logging": {
      "engineLogging": true
      }
  }
  ]
}

settings.json

修改如下：

	//"idf.openOcdConfigs": [
    //    "interface/ftdi/esp32_devkitj_v1.cfg",
    //    "target/esp32.cfg"
    //],
    "idf.openOcdConfigs": [
        "board/esp32s3-builtin.cfg"
    ],

启动GDB Server