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I think I fixed it
I checked the openOCD log and found it said I was missing uxTopUsedPriority which is allows the debugger to find task information.
I forgot to mention that I also pupgraded to FreeRTOS v10.0.1 so uxTopUsedPriority was not defined. Within Tasks.c in the WICED SDK FreeRTOS v9, this is defined near line 358.
/* This variable allows OpenOCD to read the thread lists properly */
PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority __attribute__((used)) = configMAX_PRIORITIES;
Also in tasks.c, near line 859, uxTopUsedPriority is also used...
/* This is used as an array index so must ensure it's not too large. First
remove the privilege bit if one is present. */
/* WICED: Changed to uxTopUsedPriority from configMAX_PRIORITIES to ensure the uxTopUsedPriority is always linked - enabling OpenOCD to work properly */
if( uxPriority >= ( UBaseType_t ) uxTopUsedPriority )
uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
Once I added this code, the debugger shows the tasks and it does not crash!