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Pinout:
Pin JTAG SWD D0 TCK CLK D1 TDI DIO D2 TDO DIO D3 TMS D4 nTRST D5 nSRST -
Scroll to the bottom of the config to set JTAG/SWD
This repo holds a configuration for using the FTDI FT232H (as an adapter) with OpenOCD. There are few other examples out there, I've found these to be either vendor-specific, with errors, and/or with little explanation of the configuration. As OpenOCD's docs can be a bit heavy for the novice, this config aims to explain why its parameters are set as they are.
The FT232H is an inexpensive entrypoint into hardware debugging and hacking. The chips come with sane defaults, but can be further configured using FTDI's FT_PROG (Windows Only) software if necessary.