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Which pin connections are required between st link v2 and crazyflie debug adapter in order to debug crazyflie?

the SWD lines and reset are required, SWO can be connected if you want to use ITM. This means:
- GND
- VCC
- SWIO
- SWCLK
- SWO (Optional)
- RESET

That corresponds to the connector P3 of the Crazyflie schematic: https://www.bitcraze.io/documentation/h ... _rev.b.pdf

Voltage of VCC?
SWIO means SWDIO?

The Crazyflie is a 3.0V system. Yes SWIO is SWDIO, its a typo in the schematic.