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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/6367

-- gerrit

commit ea435ab21a0472c118870487a97027f63948135e
Author: Jian-Hong Pan <[email protected]>
Date:   Sun Jul 11 12:54:39 2021 +0800

    tcl/board: Add Raspberry Pi 4 model B board
    
    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: I806f0be9700fa0f0944b42c8a651a5731adc762b
    Link: http://openocd.zylin.com/#/c/6364/1
    Signed-off-by: Jian-Hong Pan <[email protected]>

diff --git a/tcl/board/rpi4b.cfg b/tcl/board/rpi4b.cfg
new file mode 100644
index 0000000..882830d
--- /dev/null
+++ b/tcl/board/rpi4b.cfg
@@ -0,0 +1,10 @@
+# This is the Raspberry Pi 4 model B board with BCM2711 chip
+# 
https://www.raspberrypi.org/documentation/hardware/raspberrypi/bcm2711/README.md
+#
+# Enable JTAG GPIO on Raspberry Pi boards
+# https://www.raspberrypi.org/documentation/configuration/config-txt/gpio.md
+
+source [find target/bcm2711.cfg]
+
+# Raspberry Pi boards only expose Test Reset (TRST) pin, no System Reset (SRST)
+reset_config trst_only

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