diff --git a/src/SUMMARY.md b/src/SUMMARY.md
index 991fdd57..62f76fb8 100644
--- a/src/SUMMARY.md
+++ b/src/SUMMARY.md
@@ -246,8 +246,9 @@
   - [Board support crates](bare-metal/microcontrollers/board-support.md)
   - [The type state pattern](bare-metal/microcontrollers/type-state.md)
   - [embedded-hal](bare-metal/microcontrollers/embedded-hal.md)
+  - [probe-rs, cargo-embed](bare-metal/microcontrollers/probe-rs.md)
+    - [Debugging](bare-metal/microcontrollers/debugging.md)
   - [Other projects](bare-metal/microcontrollers/other-projects.md)
-  - [cargo-embed, probe-rs]()
 - [Exercises](exercises/bare-metal/morning.md)
   - [Compass](exercises/bare-metal/compass.md)
 
diff --git a/src/bare-metal/microcontrollers/probe-rs.md b/src/bare-metal/microcontrollers/probe-rs.md
new file mode 100644
index 00000000..5559e982
--- /dev/null
+++ b/src/bare-metal/microcontrollers/probe-rs.md
@@ -0,0 +1,29 @@
+# probe-rs, `cargo-embed`
+
+[probe-rs](https://probe.rs/) is a handy toolset for embedded debugging, like OpenOCD but better
+integrated.
+
+* <abbr title="Serial Wire Debug">SWD</abbr> and JTAG via CMSIS-DAP, ST-Link and J-Link probes
+* GDB stub and Microsoft <abbr title="Debug Adapter Protocol">DAP</abbr> server
+* Cargo integration
+
+`cargo-embed` is a cargo subcommand to build and flash binaries, log
+<abbr title="Real Time Transfers">RTT</abbr> output and connect GDB. It's configured by an
+`Embed.toml` file in your project directory.
+
+<details>
+
+* [CMSIS-DAP](https://arm-software.github.io/CMSIS_5/DAP/html/index.html) is an Arm standard
+  protocol over USB for an in-circuit debugger to access the CoreSight Debug Access Port of various
+  Arm Cortex processors. It's what the on-board debugger on the BBC micro:bit uses.
+* ST-Link is a range of in-circuit debuggers from ST Microelectronics, J-Link is a range from
+  SEGGER.
+* The Debug Access Port is usually either a 5-pin JTAG interface or 2-pin Serial Wire Debug.
+* probe-rs is a library which you can integrate into your own tools if you want to.
+* The [Microsoft Debug Adapter Protocol](https://microsoft.github.io/debug-adapter-protocol/) lets
+  VSCode and other IDEs debug code running on any supported microcontroller.
+* cargo-embed is a binary built using the probe-rs library.
+* RTT (Real Time Transfers) is a mechanism to transfer data between the debug host and the target
+  through a number of ringbuffers.
+
+</details>