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For NEORV32-based SoCs: enable OCD with OCD_EN => true generic in your top-level instantiation and wire JTAG signals (jtag_tck_i, jtag_tdi_i, jtag_tdo_o, jtag_tms_i). See docs/userguide/using_ocd.adoc for OpenOCD setup.

For non-NEORV32 cores (like ZAP): the NEORV32 OCD is tightly coupled to its CPU architecture and not directly portable. You'll need to implement your own RISC-V Debug Spec v0.13/1.0 compliant modules - use rtl/core/neorv32_debug_dm.vhd and rtl/core/neorv32_debug_dtm.vhd as reference implementations.

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@stnolting
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