What debugging techniques are used in embedded systems development?

Embedded debugging requires specialized techniques due to hardware interaction. Hardware debugging: JTAG/SWD debuggers (J-Link, ST-Link) for breakpoints, stepping, memory access. Logic analyzers for digital signal analysis. Oscilloscopes for analog and timing issues. Protocol analyzers (CAN, I2C, SPI decoders). Software techniques: Printf debugging via UART (lightweight, always available). Semihosting (uses debugger for I/O, slower). Logging to circular buffer in RAM. Assert macros for catching violations. Trace/profiling (ETM, ITM on ARM). Built-in self-test (BIST) routines. Advanced techniques: Memory protection units for detecting overwrites. Stack painting for high water mark analysis. Fault handlers with register dump. Core dump to Flash for post-mortem. Production debugging often limited to logs and LED indicators.