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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/6364

-- gerrit

commit 55edf62eccc6cabb36dda0d4fa448ccfe5231f4d
Author: Jian-Hong Pan <[email protected]>
Date:   Sat Jul 10 22:36:48 2021 +0800

    target/bcm2837: Set reset configuration mode as trst_only
    
    OpenOCD cannot connect to BCM2837's JTAG interface on RPi 3 board until
    the reset configuration mode is set as trst_only.
    
    According to Table 6-31 GPIO Pins Alternative Function Assignment of
    Broadcom's BCM2837 ARM Peripherials 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://cs140e.sergio.bz/docs/BCM2837-ARM-Peripherals.pdf
    [2] 
https://www.raspberrypi.org/documentation/configuration/config-txt/gpio.md
    
    Change-Id: I7f4b7804531a57d78ee7256bcd618d89c018aba7
    Signed-off-by: Jian-Hong Pan <[email protected]>

diff --git a/tcl/target/bcm2837.cfg b/tcl/target/bcm2837.cfg
index 749de31..29cdadf 100644
--- a/tcl/target/bcm2837.cfg
+++ b/tcl/target/bcm2837.cfg
@@ -33,6 +33,7 @@ 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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