Expressif has documented how to do it with eclipse here:
https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/jtag-debugging/debugging-examples.html

On Tue, Aug 30, 2022 at 3:29 PM Peter Soper via TriEmbed <
[email protected]> wrote:

> OK. Trampas Stern has volunteered to demo Eclipse talking via JTAG to an
> ESP32 so we'll have this well covered.
> Pete
>
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