Remote-debugging stm32f4
I highly recommend printf debugging for these sorts of applications.  It takes a while to get the hang of, but it is a very powerful tool as all you need is a serial port and it doesn't interrupt the flow of the program.  I did breakpoint debugging for a while on a robotics project and it was a real pain.  The way the motor drive code was written, when you hit a breakpoint, the motors didn't stop so someobody would have to go grab the robot so it didn't crash.  You don't have this issue with printf debugging.  A pair of XBee modules was sufficient to get the serial data to a computer for review.  It should be possible with bluetooth as well, but that also involves more overhead in terms of getting the modules configured correctly and paired with your computer.