diff --git a/Firmware/.vscode/launch.json b/Firmware/.vscode/launch.json
index 5107086e..cc8662d3 100644
--- a/Firmware/.vscode/launch.json
+++ b/Firmware/.vscode/launch.json
@@ -9,7 +9,7 @@
             "type": "cortex-debug",
             "servertype": "openocd",
             "request": "launch",
-            "name": "Debug ODrive",
+            "name": "Debug ODrive - ST-Link",
             "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
             "configFiles": [
                 "interface/stlink-v2.cfg",
@@ -23,7 +23,7 @@
             "type": "cortex-debug",
             "servertype": "openocd",
             "request": "launch",
-            "name": "Debug ODrive - FreeRTOS",
+            "name": "Debug ODrive - ST-Link - FreeRTOS",
             "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
             "rtos": "FreeRTOS",
             "configFiles": [
@@ -52,5 +52,19 @@
             "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
             "cwd": "${workspaceRoot}"
         },
+        {
+            // For the Cortex-Debug extensions
+            "type": "cortex-debug",
+            "servertype": "bmp",
+            "request": "launch",
+            "name": "Debug ODrive - Black Magic Probe",
+            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
+            "device": "STM32F4xx",
+            "BMPGDBSerialPort": "${env:BMP_PORT}",
+            "interface": "swd",
+            "targetId": 1,
+            "armToolchainPath": "${env:ARM_GCC_ROOT}/bin/",
+            "cwd": "${workspaceRoot}"
+        }
     ]
 }
\ No newline at end of file
diff --git a/Firmware/.vscode/tasks.json b/Firmware/.vscode/tasks.json
index d5b7d969..c82adc83 100644
--- a/Firmware/.vscode/tasks.json
+++ b/Firmware/.vscode/tasks.json
@@ -19,11 +19,17 @@
             ]
         },
         {
-            "label": "flash",
+            "label": "flash - ST-Link",
             "type": "shell",
             "command": "make flash",
             "problemMatcher": []
         },
+        {
+            "label": "flash - Black Magic Probe",
+            "type": "shell",
+            "command": "make flashbmp",
+            "problemMatcher": []
+        },
         {
             "label": "openocd",
             "type": "shell",
diff --git a/Firmware/Makefile b/Firmware/Makefile
index 91754f5a..a40ae89f 100644
--- a/Firmware/Makefile
+++ b/Firmware/Makefile
@@ -20,6 +20,15 @@ flash: all
 		-c 'reset run' \
 		-c exit
 
+flashbmp: all
+	arm-none-eabi-gdb --ex 'target extended-remote $(BMP_PORT)' \
+		--ex 'monitor swdp_scan' \
+		--ex 'attach 1' \
+		--ex 'load' \
+		--ex 'detach' \
+		--ex 'quit' \
+		$(FIRMWARE)
+
 gdb: all
 	arm-none-eabi-gdb $(FIRMWARE) -x openocd.gdbinit