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"Peter Collingbourne <p...@google.com>" just uploaded a new patch set to 
Gerrit, which you can find at https://review.openocd.org/c/openocd/+/6983

-- gerrit

commit a28305332545c20e16569e4521770ab4a5f7af8f
Author: Peter Collingbourne <p...@google.com>
Date:   Tue May 17 19:04:12 2022 -0700

    arm_adi_v5: set memaccess command mode to COMMAND_ANY
    
    Fixes the following error when attempting to set memaccess from a
    configuration file:
    
    Error: The 'XXX.dap memaccess' command must be used after 'init'.
    
    Change-Id: I68811c07a4785c616f10caa388dde4b51eabc51b
    Signed-off-by: Peter Collingbourne <p...@google.com>

diff --git a/src/target/arm_adi_v5.c b/src/target/arm_adi_v5.c
index 24de305302..3060cc4a45 100644
--- a/src/target/arm_adi_v5.c
+++ b/src/target/arm_adi_v5.c
@@ -2466,7 +2466,7 @@ const struct command_registration dap_instance_commands[] 
= {
        {
                .name = "memaccess",
                .handler = dap_memaccess_command,
-               .mode = COMMAND_EXEC,
+               .mode = COMMAND_ANY,
                .help = "set/get number of extra tck for MEM-AP memory "
                        "bus access [0-255]",
                .usage = "[cycles]",

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