Picoprobe allows a Seeed Studio XIAO RP2040 to be used as USB -> SWD and UART bridge. This means it can be used as a debugger and serial console for another Pico. Ported from https://github.com/raspberrypi/picoprobe.
Picoprobe documentation can be found in the Pico Getting Started Guide. See "Appendix A: Using Picoprobe".
XIAO RP2040 (D6) GP0/UART0 TX -> Pico GP1/UART0 RX XIAO RP2040 (D7) GP1/UART0 RX -> Pico GP0/UART0 TX XIAO RP2040 GND -> Pico GND XIAO RP2040 (D8) GP2 -> Pico SWCLK XIAO RP2040 (D10) GP3 -> Pico SWDIO