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