you mentioned using an RTOS.  Stepping on Cortex-M
works poorly with a common OS feature:  Use of the
WFI (or WFE) instruction stops the core so that you
can't get at it using JTAG.    (It saves power, but
in a way that complicates debugging.)


My baby Cortex-M RTOS has a build/coonfig option
for whether it uses WFI/WFE or not, otherwise it
would have been impossible to debug/step or even
just halt the software to see where it got to.

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