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"Yasushi SHOJI <yasushi.sh...@gmail.com>" just uploaded a new patch set to 
Gerrit, which you can find at https://review.openocd.org/c/openocd/+/6736

-- gerrit

commit c94c99d1682c31443c6186dd3de6b58c6af23e70
Author: Yasushi SHOJI <ya...@spacecubics.com>
Date:   Mon Nov 22 08:23:32 2021 +0900

    doc/openocd.texi: Document command mode command
    
    Document "command mode" command Server Configuration -> Configuration
    Stage.  The text is taken from command's help string.
    
    In addition to the help string, this commit explain the words
    mismatch, the doc uses "stage" but the command and source code uses
    "mode" to describe the same thing.
    
    Change-Id: I1d5fc8c64a3a0b07ea8430bf016bcbd54e52da1c
    Signed-off-by: Yasushi SHOJI <ya...@spacecubics.com>

diff --git a/doc/openocd.texi b/doc/openocd.texi
index bfc056f0c..6fddd9e3b 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -2040,6 +2040,19 @@ may access or activate TAPs.
 After it leaves this stage, configuration commands may no
 longer be issued.
 
+@deffn {Command} {command mode} [command_name]
+Returns the command modes allowed by a command: 'any', 'config', or
+'exec'. If no command is specified, returns the current command
+mode. Returns 'unknown' if an unknown command is given. Command can be
+multiple tokens. (command valid any time)
+
+In this document, the modes are described as stages, 'config' and
+'exec' mode correspond configuration stage and run stage. 'any' means
+the command can be executed in either
+stages. @xref{configurationstage,,Configuration Stage} and
+@xref{enteringtherunstage,,Entering the Run Stage}.
+@end deffn
+
 @anchor{enteringtherunstage}
 @section Entering the Run Stage
 

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