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"Antonio Borneo <borneo.anto...@gmail.com>" just uploaded a new patch set to 
Gerrit, which you can find at https://review.openocd.org/c/openocd/+/6724

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commit db463b2b70b8804cecb2d750bc1df561849b312a
Author: Antonio Borneo <borneo.anto...@gmail.com>
Date:   Thu Nov 18 12:26:26 2021 +0100

    doc: riscv: fix command available only at config time
    
    Commands "riscv expose_csrs" and "riscv expose_custom" are only
    available at config time.
    
    Tag them as {Config Command}.
    
    Change-Id: Ie86821cf5d0bbbd73112b4f54e7d00035fce1220
    Signed-off-by: Antonio Borneo <borneo.anto...@gmail.com>
    Fixes: a51ab8ddf63a ("Add RISC-V support.")
    Fixes: bc72695f6738 ("Lots of RISC-V improvements.")

diff --git a/doc/openocd.texi b/doc/openocd.texi
index 6ace83e56..59397f46c 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -10144,7 +10144,7 @@ OpenOCD exposes each hart as a separate core.
 
 @subsection RISC-V Debug Configuration Commands
 
-@deffn {Command} {riscv expose_csrs} n0[-m0][,n1[-m1]]...
+@deffn {Config Command} {riscv expose_csrs} n0[-m0][,n1[-m1]]...
 Configure a list of inclusive ranges for CSRs to expose in addition to the
 standard ones. This must be executed before `init`.
 
@@ -10154,7 +10154,7 @@ command can be used if OpenOCD gets this wrong, or a 
target implements custom
 CSRs.
 @end deffn
 
-@deffn {Command} {riscv expose_custom} n0[-m0][,n1[-m1]]...
+@deffn {Config Command} {riscv expose_custom} n0[-m0][,n1[-m1]]...
 The RISC-V Debug Specification allows targets to expose custom registers
 through abstract commands. (See Section 3.5.1.1 in that document.) This command
 configures a list of inclusive ranges of those registers to expose. Number 0

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