This fork supports RISC-V including multi-hart (via the -rtos riscv hack). Some of the mods have been upstreamed but for now I reckon you'll have more success with this version.
https://github.com/riscv/riscv-openocd For building it Liviu Ionescu's GNU MCU Eclipse docker based build scripts are convenient: https://github.com/gnu-mcu-eclipse/openocd-build Liviu has his own OpenOCD repo with RISC-V support but at the moment it lags behind the RISC-V/SiFive one above. Hope this helps. Cheers Tommy Murphy Microchip/Microsemi
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