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Jian-Hong Pan ([email protected]) just uploaded a new patch set to 
Gerrit, which you can find at http://openocd.zylin.com/6365

-- gerrit

commit ab2efdcae30e887ecaa0a405153f6f8b2c1548fa
Author: Jian-Hong Pan <[email protected]>
Date:   Sat Jul 10 22:57:10 2021 +0800

    target/bcm2711: Set reset configuration mode as trst_only
    
    OpenOCD cannot connect to BCM2711's JTAG interface on RPi 4B board until
    the reset configuration mode is set as trst_only.
    
    According to Table 94. GPIO Pins Alternative Function Assignment of
    Broadcom's BCM2711 ARM Peripherals datasheet [1] and Raspberry Pi's GPIO
    control in config.txt document [2], only Test Reset (TRST) pin (no
    System Reset, SRST) is exposed.
    
    [1] https://datasheets.raspberrypi.org/bcm2711/bcm2711-peripherals.pdf
    [2] 
https://www.raspberrypi.org/documentation/configuration/config-txt/gpio.md
    
    Change-Id: Iabce620e0da34cbe59ba589a6b531483ef5182e2
    Signed-off-by: Jian-Hong Pan <[email protected]>

diff --git a/tcl/target/bcm2711.cfg b/tcl/target/bcm2711.cfg
index f8d2b3a..bf80ccf 100644
--- a/tcl/target/bcm2711.cfg
+++ b/tcl/target/bcm2711.cfg
@@ -32,6 +32,7 @@ if { [info exists DAP_TAPID] } {
 
 jtag newtap $_CHIPNAME cpu -expected-id $_DAP_TAPID -irlen 4
 adapter speed 4000
+reset_config trst_only
 
 dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu
 

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