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Antonio Borneo ([email protected]) just uploaded a new patch set to 
Gerrit, which you can find at http://openocd.zylin.com/6413

-- gerrit

commit 8c42326de4ac060833727820a81293e4f6d6c72c
Author: Antonio Borneo <[email protected]>
Date:   Wed Aug 4 17:50:02 2021 +0200

    cortex_a: use the ap number specified at target create
    
    Current implementation ignores the flag '-ap-num' provided to
    command 'target create' and searches for the first AP of APB type.
    
    If specified, use the ap number.
    
    Change-Id: If1ac12345220d14a4a60515efe46dc2a2eac079a
    Signed-off-by: Antonio Borneo <[email protected]>

diff --git a/src/target/cortex_a.c b/src/target/cortex_a.c
index 8ef196e..b1f2206 100644
--- a/src/target/cortex_a.c
+++ b/src/target/cortex_a.c
@@ -2886,16 +2886,21 @@ static int cortex_a_examine_first(struct target *target)
        struct cortex_a_common *cortex_a = target_to_cortex_a(target);
        struct armv7a_common *armv7a = &cortex_a->armv7a_common;
        struct adiv5_dap *swjdp = armv7a->arm.dap;
+       struct adiv5_private_config *pc = target->private_config;
 
        int i;
        int retval = ERROR_OK;
        uint32_t didr, cpuid, dbg_osreg, dbg_idpfr1;
 
-       /* Search for the APB-AP - it is needed for access to debug registers */
-       retval = dap_find_ap(swjdp, AP_TYPE_APB_AP, &armv7a->debug_ap);
-       if (retval != ERROR_OK) {
-               LOG_ERROR("Could not find APB-AP for debug access");
-               return retval;
+       if (pc->ap_num == DP_APSEL_INVALID) {
+               /* Search for the APB-AP - it is needed for access to debug 
registers */
+               retval = dap_find_ap(swjdp, AP_TYPE_APB_AP, &armv7a->debug_ap);
+               if (retval != ERROR_OK) {
+                       LOG_ERROR("Could not find APB-AP for debug access");
+                       return retval;
+               }
+       } else {
+               armv7a->debug_ap = dap_ap(swjdp, pc->ap_num);
        }
 
        retval = mem_ap_init(armv7a->debug_ap);

-- 

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