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"Pedro Tôrres <t0rr3sp3...@gmail.com>" just uploaded a new patch set to Gerrit, 
which you can find at https://review.openocd.org/c/openocd/+/7116

-- gerrit

commit d106e22e1a013f74ebcbc089cd75b4467f8aae84
Author: Pedro Tôrres <t0rr3sp3...@gmail.com>
Date:   Sun Aug 14 00:47:54 2022 -0300

    tcl/board: add picoprobe
    
    Picoprobe allows a Pico / RP2040 to be used as USB -> SWD and UART bridge.
    This means it can be used as a debugger and serial console for another Pico.
    https://github.com/raspberrypi/picoprobe
    
    Signed-off-by: Pedro Tôrres <t0rr3sp3...@gmail.com>
    Change-Id: Ie95d96176a04b68217c0124fde4652f592cfb898

diff --git a/tcl/board/picoprobe.cfg b/tcl/board/picoprobe.cfg
new file mode 100644
index 0000000000..6c385b4d9c
--- /dev/null
+++ b/tcl/board/picoprobe.cfg
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+# Picoprobe allows a Pico / RP2040 to be used as USB -> SWD and UART bridge.
+# This means it can be used as a debugger and serial console for another Pico.
+# https://github.com/raspberrypi/picoprobe
+
+source [find interface/picoprobe.cfg]
+source [find target/rp2040.cfg]

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