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Antoine (acala...@free.fr) just uploaded a new patch set to Gerrit, which you 
can find at http://openocd.zylin.com/6285

-- gerrit

commit 9a60ae53c1f7d89c00e9970570fab8d907aa6bbe
Author: root <acala...@free.fr>
Date:   Thu Jun 3 11:37:37 2021 +0200

    target/adi_v5_jtag: Add support for 8-bit IR JTAG-DP
    
    As per Arm Debug Interface Architecture Specification (ADIv5.0 to
    ADIv5.2), B3.3.1, the JTAG-DP as an IR length of 4 or 8 bits
    depending on the ARM implementation. The current code
    only support 4-bit and this patch extends the support to 8-bit IR.
    Not tested back yet on a 4-bit target.
    
    Change-Id: Ie4f875dc336caf014c6cfced57574b54d0970623
    Signed-off-by: Antoine C. <acala...@free.fr>

diff --git a/src/target/adi_v5_jtag.c b/src/target/adi_v5_jtag.c
index 239253d..c6c23f1 100644
--- a/src/target/adi_v5_jtag.c
+++ b/src/target/adi_v5_jtag.c
@@ -43,10 +43,10 @@
 /*#define DEBUG_WAIT*/
 
 /* JTAG instructions/registers for JTAG-DP and SWJ-DP */
-#define JTAG_DP_ABORT          0x8
-#define JTAG_DP_DPACC          0xA
-#define JTAG_DP_APACC          0xB
-#define JTAG_DP_IDCODE         0xE
+#define JTAG_DP_ABORT          0xF8
+#define JTAG_DP_DPACC          0xFA
+#define JTAG_DP_APACC          0xFB
+#define JTAG_DP_IDCODE         0xFE
 
 /* three-bit ACK values for DPACC and APACC reads */
 #define JTAG_ACK_OK_FAULT      0x2

-- 

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