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Julien Massot ([email protected]) just uploaded a new patch set to Gerrit, 
which you can find at http://openocd.zylin.com/6369

-- gerrit

commit 954b27e772a4a1207b11a55848c27cd3ae0556a6
Author: Julien Massot <[email protected]>
Date:   Tue Jul 13 08:41:20 2021 +0200

    rtos: zephyr: add zephyr_params for cortex r4
    
    Implementation for Cortex-M does works for Cortex-R too,
    it allows me to fetch thread list and their backtrace on
    a Cortex-R platforms.
    
    Change-Id: I23e6eb00879587ba36e0bfb560f7002a9653d39b
    Signed-off-by: Julien Massot <[email protected]>

diff --git a/src/rtos/zephyr.c b/src/rtos/zephyr.c
index b594b2b..af8f98a 100644
--- a/src/rtos/zephyr.c
+++ b/src/rtos/zephyr.c
@@ -341,6 +341,14 @@ static struct zephyr_params zephyr_params_list[] = {
                .get_cpu_state = &zephyr_get_arm_state,
        },
        {
+               .target_name = "cortex_r4",
+               .pointer_width = 4,
+               .callee_saved_stacking = &arm_callee_saved_stacking,
+               .cpu_saved_nofp_stacking = &arm_cpu_saved_nofp_stacking,
+               .cpu_saved_fp_stacking = &arm_cpu_saved_fp_stacking,
+               .get_cpu_state = &zephyr_get_arm_state,
+       },
+       {
                .target_name = "hla_target",
                .pointer_width = 4,
                .callee_saved_stacking = &arm_callee_saved_stacking,

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