How to debug Marlin firmware thru Visual Studio Code over the USB interface?

I am using Bigtreetech SKR V1.4 Turbo board. It is LPC1769 based. I am running Marlin Firmware.

I want to put a simple breakpoint at the loop() function in MarlineCore.cpp file and step into.

Do i need STLINK debugger? Can I NOT connect to SKR 1.4 Turbo board using USB rather than going through STLINK debugger?

Answered per Need help getting STLINK talking to/programming an SKR1.4T 3D Printer CPU - #21 by maxgerhardt