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"Mateus Campaner Hercules <[email protected]>" just uploaded a new patch set 
to Gerrit, which you can find at https://review.openocd.org/c/openocd/+/7475

-- gerrit

commit 54698f878aa891a6d9b65daed2a0a51efd9c1986
Author: Mateus Campaner Hercules <[email protected]>
Date:   Wed Feb 15 11:56:28 2023 -0300

    Adds arm's cortex-m3/4 MPU registers
    
    To be able to determine if a target is running a FreeRTOS rtos
    with MPU port is necessary to access some of the MPU registers
    to check:
    
    - If it exists on target: by parsing MPU_TYPE's DREGION bits as
    this register is marked as always implemented
    
    - If the MPU is enabled: by parsing the MPU_CTRL's ENABLED bit
    
    Signed-off-by: Mateus Campaner Hercules <[email protected]>
    Change-Id: Ib00e68b32378b1ad6e4398ffbf5d0d3a57987ecf

diff --git a/src/target/cortex_m.h b/src/target/cortex_m.h
index a1c43b56de..59e1c4b375 100644
--- a/src/target/cortex_m.h
+++ b/src/target/cortex_m.h
@@ -99,6 +99,9 @@ struct cortex_m_part_info {
 #define FPU_FPCAR      0xE000EF38
 #define FPU_FPDSCR     0xE000EF3C
 
+#define MPU_TYPE       0xE000ED90
+#define MPU_CTRL       0xE000ED94
+
 #define TPIU_SSPSR     0xE0040000
 #define TPIU_CSPSR     0xE0040004
 #define TPIU_ACPR      0xE0040010

-- 

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