One of the components I came across was a ready-made serial debugger from Tindie. It has an onboard microcontroller for reading print commands from the serial tx pin of other microcontrollers like Arduino. Although the listing mentions usage cases for the Raspberry Pi, I could not find corresponding documentation for how to do it. I thought I'd share an example for how to do that here. Note that I have no idea how this might interfere with other peripherals attached to your Rpi. I also don't know if this is a stupid way to do this, but here we go:
Attach the serial debugger to the physical pins on the Rpi as follows:
VCC - Pin 1
RX - Pin 8
GND - Pin 6
Using the latest Rpi OS, go to raspi-config
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sudo raspi-config
Next, open config.txt
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sudo nano /boot/config.txt
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enable_uart=1
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console=serial0,9600 root=PARTUUID=b3d58338-02 rootfstype=ext4 fsck.repair=yes rootwait quiet splash
Once you reset, the debugger should come to life with tons of text scrolling across it. My example is basically blinkenlights, but someone else may be able to use it for something more useful.