In my en my eIxperience, there's not much/any documentation about this but it's 
relatively straightforward to look at existing debug interface drivers and 
follow those as a guide:

https://github.com/openocd-org/openocd/tree/master/src/jtag

The main task is to implement the public methods for your custom debug 
interface:

https://github.com/openocd-org/openocd/blob/dfe57baa16cdbc0dc2ae7182b5b3831028637223/src/jtag/interface.h#L207


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** [tickets:#379] Create custom jtag driver in openocd **

**Status:** new
**Milestone:** 0.10.0
**Labels:** openocd 
**Created:** Thu Dec 29, 2022 02:25 PM UTC by Ashi Gupta
**Last Updated:** Thu Dec 29, 2022 02:25 PM UTC
**Owner:** nobody


Hello,

I am working on creating a custom JTAG driver for my custom interface. I am 
trying to understand Jlink.c existing driver file in openocd to create 
my_jtag_driver.c. Is there any documentation available to understand jlink.c 
driver ? Or any document to create own jtag driver ? 




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