Configure Other JTAG Interface
For guidance about which JTAG interface to select to enable operation with OpenOCD and ESP32, 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 board that should be connected to establish communication.
MTDO / GPIO15
MTDI / GPIO12
MTCK / GPIO13
MTMS / GPIO14
Verify if ESP32 pins used for JTAG communication are not connected to some other hardware that may disturb JTAG operation.
Connect identified pin/signals of ESP32 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.