Configure Other JTAG Interface
For guidance about which JTAG interface to select to enable operation with OpenOCD and ESP32-S2, refer to section Selecting JTAG Adapter. Then follow the three configuration steps below to get it working.
Identify all pins/signals on JTAG interface and ESP32-S2 board that should be connected to establish communication.
MTDO / GPIO40
MTDI / GPIO41
MTCK / GPIO39
MTMS / GPIO42
Verify if ESP32-S2 pins used for JTAG communication are not connected to some other hardware that may disturb JTAG operation.
Connect identified pin/signals of ESP32-S2 and JTAG interface.
You may need to install driver software to make JTAG work with computer. Refer to documentation of your JTAG adapter for related details.