M4 FW debugging

Hello, i’m trying to figure out how to debug the FW running on Avenger - M4 using the STM32CubeIDE. It seems the instructions here https://wiki.st.com/stm32mpu/wiki/Getting_started/STM32MP1_boards/STM32MP157x-EV1/Develop_on_Arm®_Cortex®-M4/Modify,_rebuild_and_reload_a_firmware are not applicable because of lack of serial port running STLink OpenOCD.
Could someone please suggest how to connect STM32CubeIDE to M4 core ?
Thanks, regards