Yes, right, hardware-based debugging using OpenOCD. This is exactly what I want to do. Not the other way around and no GDB servers for user-mode debugging.
The very first sentence in the article I linked says “This tutorial shows how to prepare your Raspberry PI board for debugging with JTAG (we have tested this with Raspberry Pi 1, 2 and 3).”. Now I’m wondering how this could work with the following description with respect to the different ARM cores throughout the RPi versions.
More specifically, the latest OpenOCD version that is bundled and distributed does not support aarch64. So I assume you didn’t test debugging of this mode anyways but rather the aarch32 with standard Raspbian. Now I’d like to know which OpenOCD config file you used for RPi3. As I said, it cannot have been ‘target/raspberry.cfg’, right?
Best,
Andreas