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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/6366

-- gerrit

commit b0546b4a8a93e8064803352be7c4cb13523e3764
Author: Jian-Hong Pan <[email protected]>
Date:   Sun Jul 11 12:04:06 2021 +0800

    tcl/board: Add Raspberry Pi 3 board
    
    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: I26ff3924039ff7943faf0a5b1ad0427c8dbb88f2
    Link: http://openocd.zylin.com/#/c/6364/1
    Signed-off-by: Jian-Hong Pan <[email protected]>

diff --git a/tcl/board/rpi3.cfg b/tcl/board/rpi3.cfg
new file mode 100644
index 0000000..2cf1148
--- /dev/null
+++ b/tcl/board/rpi3.cfg
@@ -0,0 +1,10 @@
+# This is the Raspberry Pi 3 board with BCM2837 chip
+# 
https://www.raspberrypi.org/documentation/hardware/raspberrypi/bcm2837/README.md
+#
+# Enable JTAG GPIO on Raspberry Pi boards
+# https://www.raspberrypi.org/documentation/configuration/config-txt/gpio.md
+
+source [find target/bcm2837.cfg]
+
+# Raspberry Pi boards only expose Test Reset (TRST) pin, no System Reset (SRST)
+reset_config trst_only

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