target: add Espressif ESP32 basic support

ESP32 is a dual core Xtensa SoC
Not full featured yet. Some of the missing functionality:
-Semihosting
-Flash breakpoints
-Flash loader
-Apptrace
-FreeRTOS

Signed-off-by: Erhan Kurubas <erhan.kurubas@espressif.com>
Change-Id: I76fb184aa38ab9f4e30290c038b5ff8850060750
Reviewed-on: https://review.openocd.org/c/openocd/+/6989
Tested-by: jenkins
Reviewed-by: Ian Thompson <ianst@cadence.com>
Reviewed-by: Antonio Borneo <borneo.antonio@gmail.com>

18 files changed, 1950 insertions, 3 deletions

diff --git a/contrib/loaders/reset/espressif/common.mk b/contrib/loaders/reset/espressif/common.mk
new file mode 100644
index 0000000..4623583
--- /dev/null
+++ b/contrib/loaders/reset/espressif/common.mk
@@ -0,0 +1,51 @@
+# ESP32 Makefile to compile the SoC reset program
+# Copyright (C) 2022 Espressif Systems Ltd.
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+# Pass V=1 to see the commands being executed by make
+ifneq ("$(V)","1")
+Q = @
+endif
+
+BIN2C = ../../../../../src/helper/bin2char.sh
+
+APP = cpu_reset_handler
+
+BUILD_DIR = build
+
+APP_OBJ = $(BUILD_DIR)/$(APP).o
+APP_BIN = $(BUILD_DIR)/$(APP)_code.bin
+APP_CODE = $(APP)_code.inc
+
+CFLAGS += -mtext-section-literals
+
+.PHONY: all cleanxten
+
+all: $(BUILD_DIR) $(APP_OBJ) $(APP_CODE)
+
+$(BUILD_DIR):
+	$(Q) mkdir $@
+
+$(APP_OBJ): $(SRCS)
+	@echo "  CC   $^ -> $@"
+	$(Q) $(CROSS)gcc -c $(CFLAGS)  -o $@ $^
+
+$(APP_CODE): $(APP_OBJ)
+	@echo "  CC   $^ -> $@"
+	$(Q) $(CROSS)objcopy -O binary -j.text $^ $(APP_BIN)
+	$(Q) $(BIN2C) < $(APP_BIN) > $@
+
+clean:
+	$(Q) rm -rf $(BUILD_DIR)
diff --git a/contrib/loaders/reset/espressif/esp32/Makefile b/contrib/loaders/reset/espressif/esp32/Makefile
new file mode 100644
index 0000000..3551b6a
--- /dev/null
+++ b/contrib/loaders/reset/espressif/esp32/Makefile
@@ -0,0 +1,31 @@
+# ESP32 Makefile to compile the SoC reset program
+# Copyright (C) 2022 Espressif Systems Ltd.
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+# Prefix for ESP32 cross compilers (can include a directory path)
+CROSS ?= xtensa-esp32-elf-
+
+APP_ARCH := xtensa
+APP_CHIP := ESP32
+APP_CHIP_PATH := $(shell pwd)
+SRCS := $(APP_CHIP_PATH)/esp32_cpu_reset_handler.S
+
+CFLAGS :=
+LDFLAGS :=
+
+INCLUDES :=
+DEFINES :=
+
+include ../common.mk
diff --git a/contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc b/contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc
new file mode 100644
index 0000000..57ee12d
--- /dev/null
+++ b/contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc
@@ -0,0 +1,15 @@
+/* Autogenerated with ../../../../../src/helper/bin2char.sh */
+0x06,0x1e,0x00,0x00,0x06,0x14,0x00,0x00,0x34,0x80,0xf4,0x3f,0xb0,0x80,0xf4,0x3f,
+0xb4,0x80,0xf4,0x3f,0x70,0x80,0xf4,0x3f,0x10,0x22,0x00,0x00,0x00,0x20,0x49,0x9c,
+0x00,0x80,0xf4,0x3f,0xa1,0x3a,0xd8,0x50,0xa4,0x80,0xf4,0x3f,0x64,0xf0,0xf5,0x3f,
+0x64,0x00,0xf6,0x3f,0x8c,0x80,0xf4,0x3f,0x48,0xf0,0xf5,0x3f,0x48,0x00,0xf6,0x3f,
+0xfc,0xa1,0xf5,0x3f,0x38,0x00,0xf0,0x3f,0x30,0x00,0xf0,0x3f,0x2c,0x00,0xf0,0x3f,
+0x34,0x80,0xf4,0x3f,0x00,0x30,0x00,0x00,0x50,0x55,0x30,0x41,0xeb,0xff,0x59,0x04,
+0x41,0xeb,0xff,0x59,0x04,0x41,0xea,0xff,0x59,0x04,0x41,0xea,0xff,0x31,0xea,0xff,
+0x39,0x04,0x31,0xea,0xff,0x41,0xea,0xff,0x39,0x04,0x00,0x00,0x60,0xeb,0x03,0x60,
+0x61,0x04,0x56,0x66,0x04,0x50,0x55,0x30,0x31,0xe7,0xff,0x41,0xe7,0xff,0x39,0x04,
+0x41,0xe7,0xff,0x39,0x04,0x41,0xe6,0xff,0x39,0x04,0x41,0xe6,0xff,0x59,0x04,0x41,
+0xe6,0xff,0x59,0x04,0x41,0xe6,0xff,0x59,0x04,0x41,0xe5,0xff,0x59,0x04,0x41,0xe5,
+0xff,0x59,0x04,0x41,0xe5,0xff,0x0c,0x13,0x39,0x04,0x41,0xe4,0xff,0x0c,0x13,0x39,
+0x04,0x59,0x04,0x41,0xe3,0xff,0x31,0xe3,0xff,0x32,0x64,0x00,0x00,0x70,0x00,0x46,
+0xfe,0xff,
diff --git a/contrib/loaders/reset/espressif/esp32/esp32_cpu_reset_handler.S b/contrib/loaders/reset/espressif/esp32/esp32_cpu_reset_handler.S
new file mode 100644
index 0000000..1132545
--- /dev/null
+++ b/contrib/loaders/reset/espressif/esp32/esp32_cpu_reset_handler.S
@@ -0,0 +1,145 @@
+/***************************************************************************
+ *   Reset stub used by esp32 target                                       *
+ *   Copyright (C) 2017 Espressif Systems Ltd.                             *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#define RTC_CNTL_RESET_STATE_REG    0x3ff48034
+#define RTC_CNTL_RESET_STATE_DEF    0x3000
+#define RTC_CNTL_CLK_CONF_REG       0x3ff48070
+#define RTC_CNTL_CLK_CONF_DEF       0x2210
+#define RTC_CNTL_STORE4_REG         0x3ff480b0
+#define RTC_CNTL_STORE5_REG         0x3ff480b4
+#define WDT_WKEY_VALUE              0x50D83AA1
+#define TIMG0_WDTWPROTECT_REG       0x3ff5f064
+#define TIMG0_WDTCONFIG0_REG        0x3ff5f048
+#define TIMG1_WDTWPROTECT_REG       0x3FF60064
+#define TIMG1_WDTCONFIG0_REG        0x3ff60048
+#define RTC_CNTL_WDTCONFIG0_REG     0x3ff4808c
+#define RTC_CNTL_WDTWPROTECT_REG    0x3ff480a4
+#define JTAG_ENABLE_REG             0x3ff5a1fc
+#define RTC_CNTL_OPTIONS0_REG       0x3ff48000
+#define RTC_CNTL_OPTIONS0_DEF       0x1c492000
+#define RTC_CNTL_SW_SYS_RST         0x80000000
+#define DPORT_APPCPU_CTRL_A_REG     0x3ff0002c
+#define DPORT_APPCPU_RST_EN         0x1
+#define DPORT_APPCPU_CTRL_B_REG     0x3ff00030
+#define DPORT_APPCPU_CLKGATE_EN     0x1
+#define DPORT_APPCPU_CTRL_C_REG     0x3ff00034
+#define DPORT_APPCPU_CTRL_D_REG     0x3ff00038
+
+
+/* This stub is copied to RTC_SLOW_MEM by OpenOCD, and the CPU starts executing
+ * it instead of the ROM code (0x40000400). This stub disables watchdogs and
+ * goes into a loop.
+ * OpenOCD will then halt the target and perform CPU reset using OCD.
+ */
+
+
+/* Has to be at offset 0. This is the entry point of the CPU, once
+ * RTC_CNTL_PROCPU_STAT_VECTOR_SEL is cleared.
+ * CPU will come here after the system reset, triggered by RTC_CNTL_SW_SYS_RST.
+ */
+    .global     cpu_at_start_handler
+    .type       cpu_at_start_handler,@function
+    .align      4
+cpu_at_start_handler:
+    j start
+
+
+/* Has to be at offset 4. Once the stub code has been uploaded into RTC Slow
+ * memory, OpenOCD will set the PC to this address, and resume execution.
+ * The stub will then jump to 'reset' label and perform the reset.
+ */
+    .global     cpu_reset_handler
+    .type       cpu_reset_handler,@function
+    .align      4
+cpu_reset_handler:
+    j reset
+
+    .align 4
+    .literal_position
+
+    .align 4
+reset:
+    /* Use a5 as a zero register */
+    xor a5, a5, a5
+    /* Select static reset vector 0 (XCHAL_RESET_VECTOR0_VADDR, 0x50000000) */
+    movi a4, RTC_CNTL_RESET_STATE_REG
+    s32i a5, a4, 0
+    /* Set some clock-related RTC registers to the default values */
+    movi a4, RTC_CNTL_STORE4_REG
+    s32i a5, a4, 0
+    movi a4, RTC_CNTL_STORE5_REG
+    s32i a5, a4, 0
+    movi a4, RTC_CNTL_CLK_CONF_REG
+    movi a3, RTC_CNTL_CLK_CONF_DEF
+    s32i a3, a4, 0
+    /* Reset the digital part of the chip (RTC controller doesn't get reset) */
+    movi a3, (RTC_CNTL_OPTIONS0_DEF | RTC_CNTL_SW_SYS_RST)
+    movi a4, RTC_CNTL_OPTIONS0_REG
+    s32i a3, a4, 0
+    /* Doesn't reach beyond this instruction */
+
+    .align 4
+start:
+    /* If running on the APP CPU, skip directly to the parking loop */
+    rsr.prid a6
+    extui a6, a6, 1, 1
+    bnez a6, parking_loop
+
+    /* Use a5 as a zero register */
+    xor a5, a5, a5
+    /* Disable the watchdogs */
+    movi a3, WDT_WKEY_VALUE
+    movi a4, RTC_CNTL_WDTWPROTECT_REG
+    s32i.n a3, a4, 0
+    movi a4, TIMG0_WDTWPROTECT_REG
+    s32i.n a3, a4, 0
+    movi a4, TIMG1_WDTWPROTECT_REG
+    s32i.n a3, a4, 0
+    movi a4, RTC_CNTL_WDTCONFIG0_REG
+    s32i.n a5, a4, 0
+    movi a4, TIMG0_WDTCONFIG0_REG
+    s32i.n a5, a4, 0
+    movi a4, TIMG1_WDTCONFIG0_REG
+    s32i.n a5, a4, 0
+    /* Enable JTAG (needed since rev. 3) */
+    movi a4, JTAG_ENABLE_REG
+    s32i.n a5, a4, 0
+    /* Clear APP_CPU boot address */
+    movi a4, DPORT_APPCPU_CTRL_D_REG
+    s32i.n a5, a4, 0
+    /* Clear APP_CPU clock gating */
+    movi a4, DPORT_APPCPU_CTRL_B_REG
+    movi a3, DPORT_APPCPU_CLKGATE_EN
+    s32i.n a3, a4, 0
+    /* Set and clear APP_CPU reset */
+    movi a4, DPORT_APPCPU_CTRL_A_REG
+    movi a3, DPORT_APPCPU_RST_EN
+    s32i.n a3, a4, 0
+    s32i.n a5, a4, 0
+    /* Restore the reset vector to ROM */
+    movi a4, RTC_CNTL_RESET_STATE_REG
+    movi a3, RTC_CNTL_RESET_STATE_DEF
+    s32i.n a3, a4, 0
+
+
+parking_loop:
+    /* PRO and APP CPU will be in this loop, until OpenOCD
+     * finds the JTAG taps and puts the CPUs into debug mode.
+     */
+    waiti 0
+    j parking_loop
diff --git a/doc/openocd.texi b/doc/openocd.texi
index b328370..2661e46 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -4913,6 +4913,7 @@ compact Thumb2 instruction set. Supports also ARMv6-M and ARMv8-M cores
 @item @code{dsp5680xx} -- implements Freescale's 5680x DSP.
 @item @code{esirisc} -- this is an EnSilica eSi-RISC core.
 The current implementation supports eSi-32xx cores.
+@item @code{esp32} -- this is an Espressif SoC with dual Xtensa cores.
 @item @code{esp32s2} -- this is an Espressif SoC with single Xtensa core.
 @item @code{fa526} -- resembles arm920 (w/o Thumb).
 @item @code{feroceon} -- resembles arm926.
diff --git a/src/target/espressif/Makefile.am b/src/target/espressif/Makefile.am
index c681e09..2a9045b 100644
--- a/src/target/espressif/Makefile.am
+++ b/src/target/espressif/Makefile.am
@@ -2,5 +2,9 @@ noinst_LTLIBRARIES += %D%/libespressif.la
 %C%_libespressif_la_SOURCES = \
        %D%/esp_xtensa.c \
        %D%/esp_xtensa.h \
+       %D%/esp_xtensa_smp.c \
+       %D%/esp_xtensa_smp.h \
        %D%/esp32s2.c \
-       %D%/esp32s2.h
+       %D%/esp32s2.h \
+       %D%/esp32.c \
+       %D%/esp32.h
diff --git a/src/target/espressif/esp32.c b/src/target/espressif/esp32.c
new file mode 100644
index 0000000..9d5099b
--- /dev/null
+++ b/src/target/espressif/esp32.c
@@ -0,0 +1,704 @@
+/***************************************************************************
+ *   ESP32 target API for OpenOCD                                          *
+ *   Copyright (C) 2016-2019 Espressif Systems Ltd.                        *
+ *   Author: Dmitry Yakovlev <dmitry@espressif.com>                        *
+ *   Author: Alexey Gerenkov <alexey@espressif.com>                        *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <helper/time_support.h>
+#include <target/target.h>
+#include <target/target_type.h>
+#include <target/smp.h>
+#include "assert.h"
+#include "esp32.h"
+#include "esp_xtensa_smp.h"
+
+/*
+This is a JTAG driver for the ESP32, the are two Tensilica cores inside
+the ESP32 chip. For more information please have a look into ESP32 target
+implementation.
+*/
+
+/* ESP32 memory map */
+#define ESP32_DRAM_LOW            0x3ffae000
+#define ESP32_DRAM_HIGH           0x40000000
+#define ESP32_IROM_MASK_LOW       0x40000000
+#define ESP32_IROM_MASK_HIGH      0x40064f00
+#define ESP32_IRAM_LOW            0x40070000
+#define ESP32_IRAM_HIGH           0x400a0000
+#define ESP32_RTC_IRAM_LOW        0x400c0000
+#define ESP32_RTC_IRAM_HIGH       0x400c2000
+#define ESP32_RTC_DRAM_LOW        0x3ff80000
+#define ESP32_RTC_DRAM_HIGH       0x3ff82000
+#define ESP32_RTC_DATA_LOW        0x50000000
+#define ESP32_RTC_DATA_HIGH       0x50002000
+#define ESP32_EXTRAM_DATA_LOW     0x3f800000
+#define ESP32_EXTRAM_DATA_HIGH    0x3fc00000
+#define ESP32_DR_REG_LOW          0x3ff00000
+#define ESP32_DR_REG_HIGH         0x3ff71000
+#define ESP32_SYS_RAM_LOW         0x60000000UL
+#define ESP32_SYS_RAM_HIGH        (ESP32_SYS_RAM_LOW + 0x20000000UL)
+#define ESP32_RTC_SLOW_MEM_BASE   ESP32_RTC_DATA_LOW
+
+/* ESP32 WDT */
+#define ESP32_WDT_WKEY_VALUE       0x50d83aa1
+#define ESP32_TIMG0_BASE           0x3ff5f000
+#define ESP32_TIMG1_BASE           0x3ff60000
+#define ESP32_TIMGWDT_CFG0_OFF     0x48
+#define ESP32_TIMGWDT_PROTECT_OFF  0x64
+#define ESP32_TIMG0WDT_CFG0        (ESP32_TIMG0_BASE + ESP32_TIMGWDT_CFG0_OFF)
+#define ESP32_TIMG1WDT_CFG0        (ESP32_TIMG1_BASE + ESP32_TIMGWDT_CFG0_OFF)
+#define ESP32_TIMG0WDT_PROTECT     (ESP32_TIMG0_BASE + ESP32_TIMGWDT_PROTECT_OFF)
+#define ESP32_TIMG1WDT_PROTECT     (ESP32_TIMG1_BASE + ESP32_TIMGWDT_PROTECT_OFF)
+#define ESP32_RTCCNTL_BASE         0x3ff48000
+#define ESP32_RTCWDT_CFG_OFF       0x8C
+#define ESP32_RTCWDT_PROTECT_OFF   0xA4
+#define ESP32_RTCWDT_CFG           (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_CFG_OFF)
+#define ESP32_RTCWDT_PROTECT       (ESP32_RTCCNTL_BASE + ESP32_RTCWDT_PROTECT_OFF)
+
+#define ESP32_TRACEMEM_BLOCK_SZ    0x4000
+
+/* ESP32 dport regs */
+#define ESP32_DR_REG_DPORT_BASE         ESP32_DR_REG_LOW
+#define ESP32_DPORT_APPCPU_CTRL_B_REG   (ESP32_DR_REG_DPORT_BASE + 0x030)
+#define ESP32_DPORT_APPCPU_CLKGATE_EN   BIT(0)
+/* ESP32 RTC regs */
+#define ESP32_RTC_CNTL_SW_CPU_STALL_REG (ESP32_RTCCNTL_BASE + 0xac)
+#define ESP32_RTC_CNTL_SW_CPU_STALL_DEF 0x0
+
+
+/* this should map local reg IDs to GDB reg mapping as defined in xtensa-config.c 'rmap' in
+ *xtensa-overlay */
+static const unsigned int esp32_gdb_regs_mapping[ESP32_NUM_REGS] = {
+	XT_REG_IDX_PC,
+	XT_REG_IDX_AR0, XT_REG_IDX_AR1, XT_REG_IDX_AR2, XT_REG_IDX_AR3,
+	XT_REG_IDX_AR4, XT_REG_IDX_AR5, XT_REG_IDX_AR6, XT_REG_IDX_AR7,
+	XT_REG_IDX_AR8, XT_REG_IDX_AR9, XT_REG_IDX_AR10, XT_REG_IDX_AR11,
+	XT_REG_IDX_AR12, XT_REG_IDX_AR13, XT_REG_IDX_AR14, XT_REG_IDX_AR15,
+	XT_REG_IDX_AR16, XT_REG_IDX_AR17, XT_REG_IDX_AR18, XT_REG_IDX_AR19,
+	XT_REG_IDX_AR20, XT_REG_IDX_AR21, XT_REG_IDX_AR22, XT_REG_IDX_AR23,
+	XT_REG_IDX_AR24, XT_REG_IDX_AR25, XT_REG_IDX_AR26, XT_REG_IDX_AR27,
+	XT_REG_IDX_AR28, XT_REG_IDX_AR29, XT_REG_IDX_AR30, XT_REG_IDX_AR31,
+	XT_REG_IDX_AR32, XT_REG_IDX_AR33, XT_REG_IDX_AR34, XT_REG_IDX_AR35,
+	XT_REG_IDX_AR36, XT_REG_IDX_AR37, XT_REG_IDX_AR38, XT_REG_IDX_AR39,
+	XT_REG_IDX_AR40, XT_REG_IDX_AR41, XT_REG_IDX_AR42, XT_REG_IDX_AR43,
+	XT_REG_IDX_AR44, XT_REG_IDX_AR45, XT_REG_IDX_AR46, XT_REG_IDX_AR47,
+	XT_REG_IDX_AR48, XT_REG_IDX_AR49, XT_REG_IDX_AR50, XT_REG_IDX_AR51,
+	XT_REG_IDX_AR52, XT_REG_IDX_AR53, XT_REG_IDX_AR54, XT_REG_IDX_AR55,
+	XT_REG_IDX_AR56, XT_REG_IDX_AR57, XT_REG_IDX_AR58, XT_REG_IDX_AR59,
+	XT_REG_IDX_AR60, XT_REG_IDX_AR61, XT_REG_IDX_AR62, XT_REG_IDX_AR63,
+	XT_REG_IDX_LBEG, XT_REG_IDX_LEND, XT_REG_IDX_LCOUNT, XT_REG_IDX_SAR,
+	XT_REG_IDX_WINDOWBASE, XT_REG_IDX_WINDOWSTART, XT_REG_IDX_CONFIGID0, XT_REG_IDX_CONFIGID1,
+	XT_REG_IDX_PS, XT_REG_IDX_THREADPTR, XT_REG_IDX_BR, XT_REG_IDX_SCOMPARE1,
+	XT_REG_IDX_ACCLO, XT_REG_IDX_ACCHI,
+	XT_REG_IDX_M0, XT_REG_IDX_M1, XT_REG_IDX_M2, XT_REG_IDX_M3,
+	ESP32_REG_IDX_EXPSTATE,
+	ESP32_REG_IDX_F64R_LO,
+	ESP32_REG_IDX_F64R_HI,
+	ESP32_REG_IDX_F64S,
+	XT_REG_IDX_F0, XT_REG_IDX_F1, XT_REG_IDX_F2, XT_REG_IDX_F3,
+	XT_REG_IDX_F4, XT_REG_IDX_F5, XT_REG_IDX_F6, XT_REG_IDX_F7,
+	XT_REG_IDX_F8, XT_REG_IDX_F9, XT_REG_IDX_F10, XT_REG_IDX_F11,
+	XT_REG_IDX_F12, XT_REG_IDX_F13, XT_REG_IDX_F14, XT_REG_IDX_F15,
+	XT_REG_IDX_FCR, XT_REG_IDX_FSR, XT_REG_IDX_MMID, XT_REG_IDX_IBREAKENABLE,
+	XT_REG_IDX_MEMCTL, XT_REG_IDX_ATOMCTL, XT_REG_IDX_OCD_DDR,
+	XT_REG_IDX_IBREAKA0, XT_REG_IDX_IBREAKA1, XT_REG_IDX_DBREAKA0, XT_REG_IDX_DBREAKA1,
+	XT_REG_IDX_DBREAKC0, XT_REG_IDX_DBREAKC1,
+	XT_REG_IDX_EPC1, XT_REG_IDX_EPC2, XT_REG_IDX_EPC3, XT_REG_IDX_EPC4,
+	XT_REG_IDX_EPC5, XT_REG_IDX_EPC6, XT_REG_IDX_EPC7, XT_REG_IDX_DEPC,
+	XT_REG_IDX_EPS2, XT_REG_IDX_EPS3, XT_REG_IDX_EPS4, XT_REG_IDX_EPS5,
+	XT_REG_IDX_EPS6, XT_REG_IDX_EPS7,
+	XT_REG_IDX_EXCSAVE1, XT_REG_IDX_EXCSAVE2, XT_REG_IDX_EXCSAVE3, XT_REG_IDX_EXCSAVE4,
+	XT_REG_IDX_EXCSAVE5, XT_REG_IDX_EXCSAVE6, XT_REG_IDX_EXCSAVE7, XT_REG_IDX_CPENABLE,
+	XT_REG_IDX_INTERRUPT, XT_REG_IDX_INTSET, XT_REG_IDX_INTCLEAR, XT_REG_IDX_INTENABLE,
+	XT_REG_IDX_VECBASE, XT_REG_IDX_EXCCAUSE, XT_REG_IDX_DEBUGCAUSE, XT_REG_IDX_CCOUNT,
+	XT_REG_IDX_PRID, XT_REG_IDX_ICOUNT, XT_REG_IDX_ICOUNTLEVEL, XT_REG_IDX_EXCVADDR,
+	XT_REG_IDX_CCOMPARE0, XT_REG_IDX_CCOMPARE1, XT_REG_IDX_CCOMPARE2,
+	XT_REG_IDX_MISC0, XT_REG_IDX_MISC1, XT_REG_IDX_MISC2, XT_REG_IDX_MISC3,
+	XT_REG_IDX_A0, XT_REG_IDX_A1, XT_REG_IDX_A2, XT_REG_IDX_A3,
+	XT_REG_IDX_A4, XT_REG_IDX_A5, XT_REG_IDX_A6, XT_REG_IDX_A7,
+	XT_REG_IDX_A8, XT_REG_IDX_A9, XT_REG_IDX_A10, XT_REG_IDX_A11,
+	XT_REG_IDX_A12, XT_REG_IDX_A13, XT_REG_IDX_A14, XT_REG_IDX_A15,
+	XT_REG_IDX_PWRCTL, XT_REG_IDX_PWRSTAT, XT_REG_IDX_ERISTAT,
+	XT_REG_IDX_CS_ITCTRL, XT_REG_IDX_CS_CLAIMSET, XT_REG_IDX_CS_CLAIMCLR,
+	XT_REG_IDX_CS_LOCKACCESS, XT_REG_IDX_CS_LOCKSTATUS, XT_REG_IDX_CS_AUTHSTATUS,
+	XT_REG_IDX_FAULT_INFO,
+	XT_REG_IDX_TRAX_ID, XT_REG_IDX_TRAX_CTRL, XT_REG_IDX_TRAX_STAT,
+	XT_REG_IDX_TRAX_DATA, XT_REG_IDX_TRAX_ADDR, XT_REG_IDX_TRAX_PCTRIGGER,
+	XT_REG_IDX_TRAX_PCMATCH, XT_REG_IDX_TRAX_DELAY, XT_REG_IDX_TRAX_MEMSTART,
+	XT_REG_IDX_TRAX_MEMEND,
+	XT_REG_IDX_PMG, XT_REG_IDX_PMPC, XT_REG_IDX_PM0, XT_REG_IDX_PM1,
+	XT_REG_IDX_PMCTRL0, XT_REG_IDX_PMCTRL1, XT_REG_IDX_PMSTAT0, XT_REG_IDX_PMSTAT1,
+	XT_REG_IDX_OCD_ID, XT_REG_IDX_OCD_DCRCLR, XT_REG_IDX_OCD_DCRSET, XT_REG_IDX_OCD_DSR,
+};
+
+static const struct xtensa_user_reg_desc esp32_user_regs[ESP32_NUM_REGS - XT_NUM_REGS] = {
+	{ "expstate", 0xE6, 0, 32, &xtensa_user_reg_u32_type },
+	{ "f64r_lo", 0xEA, 0, 32, &xtensa_user_reg_u32_type },
+	{ "f64r_hi", 0xEB, 0, 32, &xtensa_user_reg_u32_type },
+	{ "f64s", 0xEC, 0, 32, &xtensa_user_reg_u32_type },
+};
+
+static const struct xtensa_config esp32_xtensa_cfg = {
+	.density = true,
+	.aregs_num = XT_AREGS_NUM_MAX,
+	.windowed = true,
+	.coproc = true,
+	.fp_coproc = true,
+	.loop = true,
+	.miscregs_num = 4,
+	.threadptr = true,
+	.boolean = true,
+	.reloc_vec = true,
+	.proc_id = true,
+	.cond_store = true,
+	.mac16 = true,
+	.user_regs_num = ARRAY_SIZE(esp32_user_regs),
+	.user_regs = esp32_user_regs,
+	.fetch_user_regs = xtensa_fetch_user_regs_u32,
+	.queue_write_dirty_user_regs = xtensa_queue_write_dirty_user_regs_u32,
+	.gdb_general_regs_num = ESP32_NUM_REGS_G_COMMAND,
+	.gdb_regs_mapping = esp32_gdb_regs_mapping,
+	.irom = {
+		.count = 2,
+		.regions = {
+			{
+				.base = ESP32_IROM_LOW,
+				.size = ESP32_IROM_HIGH - ESP32_IROM_LOW,
+				.access = XT_MEM_ACCESS_READ,
+			},
+			{
+				.base = ESP32_IROM_MASK_LOW,
+				.size = ESP32_IROM_MASK_HIGH - ESP32_IROM_MASK_LOW,
+				.access = XT_MEM_ACCESS_READ,
+			},
+		}
+	},
+	.iram = {
+		.count = 2,
+		.regions = {
+			{
+				.base = ESP32_IRAM_LOW,
+				.size = ESP32_IRAM_HIGH - ESP32_IRAM_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+			{
+				.base = ESP32_RTC_IRAM_LOW,
+				.size = ESP32_RTC_IRAM_HIGH - ESP32_RTC_IRAM_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+		}
+	},
+	.drom = {
+		.count = 1,
+		.regions = {
+			{
+				.base = ESP32_DROM_LOW,
+				.size = ESP32_DROM_HIGH - ESP32_DROM_LOW,
+				.access = XT_MEM_ACCESS_READ,
+			},
+		}
+	},
+	.dram = {
+		.count = 6,
+		.regions = {
+			{
+				.base = ESP32_DRAM_LOW,
+				.size = ESP32_DRAM_HIGH - ESP32_DRAM_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+			{
+				.base = ESP32_RTC_DRAM_LOW,
+				.size = ESP32_RTC_DRAM_HIGH - ESP32_RTC_DRAM_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+			{
+				.base = ESP32_RTC_DATA_LOW,
+				.size = ESP32_RTC_DATA_HIGH - ESP32_RTC_DATA_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+			{
+				.base = ESP32_EXTRAM_DATA_LOW,
+				.size = ESP32_EXTRAM_DATA_HIGH - ESP32_EXTRAM_DATA_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+			{
+				.base = ESP32_DR_REG_LOW,
+				.size = ESP32_DR_REG_HIGH - ESP32_DR_REG_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+			{
+				.base = ESP32_SYS_RAM_LOW,
+				.size = ESP32_SYS_RAM_HIGH - ESP32_SYS_RAM_LOW,
+				.access = XT_MEM_ACCESS_READ | XT_MEM_ACCESS_WRITE,
+			},
+		}
+	},
+	.exc = {
+		.enabled = true,
+	},
+	.irq = {
+		.enabled = true,
+		.irq_num = 32,
+	},
+	.high_irq = {
+		.enabled = true,
+		.excm_level = 3,
+		.nmi_num = 1,
+	},
+	.tim_irq = {
+		.enabled = true,
+		.comp_num = 3,
+	},
+	.debug = {
+		.enabled = true,
+		.irq_level = 6,
+		.ibreaks_num = 2,
+		.dbreaks_num = 2,
+		.icount_sz = 32,
+	},
+	.trace = {
+		.enabled = true,
+		.mem_sz = ESP32_TRACEMEM_BLOCK_SZ,
+		.reversed_mem_access = true,
+	},
+};
+
+/* 0 - don't care, 1 - TMS low, 2 - TMS high */
+enum esp32_flash_bootstrap {
+	FBS_DONTCARE = 0,
+	FBS_TMSLOW,
+	FBS_TMSHIGH,
+};
+
+struct esp32_common {
+	struct esp_xtensa_smp_common esp_xtensa_smp;
+	enum esp32_flash_bootstrap flash_bootstrap;
+};
+
+static inline struct esp32_common *target_to_esp32(struct target *target)
+{
+	return container_of(target->arch_info, struct esp32_common, esp_xtensa_smp);
+}
+
+/* Reset ESP32 peripherals.
+ * Postconditions: all peripherals except RTC_CNTL are reset, CPU's PC is undefined, PRO CPU is halted,
+ * APP CPU is in reset
+ * How this works:
+ * 0. make sure target is halted; if not, try to halt it; if that fails, try to reset it (via OCD) and then halt
+ * 1. set CPU initial PC to 0x50000000 (ESP32_SMP_RTC_DATA_LOW) by clearing RTC_CNTL_{PRO,APP}CPU_STAT_VECTOR_SEL
+ * 2. load stub code into ESP32_SMP_RTC_DATA_LOW; once executed, stub code will disable watchdogs and
+ * make CPU spin in an idle loop.
+ * 3. trigger SoC reset using RTC_CNTL_SW_SYS_RST bit
+ * 4. wait for the OCD to be reset
+ * 5. halt the target and wait for it to be halted (at this point CPU is in the idle loop)
+ * 6. restore initial PC and the contents of ESP32_SMP_RTC_DATA_LOW
+ * TODO: some state of RTC_CNTL is not reset during SW_SYS_RST. Need to reset that manually. */
+
+const uint8_t esp32_reset_stub_code[] = {
+#include "../../../contrib/loaders/reset/espressif/esp32/cpu_reset_handler_code.inc"
+};
+
+static int esp32_soc_reset(struct target *target)
+{
+	int res;
+	struct target_list *head;
+	struct xtensa *xtensa;
+
+	LOG_DEBUG("start");
+	/* In order to write to peripheral registers, target must be halted first */
+	if (target->state != TARGET_HALTED) {
+		LOG_DEBUG("Target not halted before SoC reset, trying to halt it first");
+		xtensa_halt(target);
+		res = target_wait_state(target, TARGET_HALTED, 1000);
+		if (res != ERROR_OK) {
+			LOG_DEBUG("Couldn't halt target before SoC reset, trying to do reset-halt");
+			res = xtensa_assert_reset(target);
+			if (res != ERROR_OK) {
+				LOG_ERROR(
+					"Couldn't halt target before SoC reset! (xtensa_assert_reset returned %d)",
+					res);
+				return res;
+			}
+			alive_sleep(10);
+			xtensa_poll(target);
+			bool reset_halt_save = target->reset_halt;
+			target->reset_halt = true;
+			res = xtensa_deassert_reset(target);
+			target->reset_halt = reset_halt_save;
+			if (res != ERROR_OK) {
+				LOG_ERROR(
+					"Couldn't halt target before SoC reset! (xtensa_deassert_reset returned %d)",
+					res);
+				return res;
+			}
+			alive_sleep(10);
+			xtensa_poll(target);
+			xtensa_halt(target);
+			res = target_wait_state(target, TARGET_HALTED, 1000);
+			if (res != ERROR_OK) {
+				LOG_ERROR("Couldn't halt target before SoC reset");
+				return res;
+			}
+		}
+	}
+
+	if (target->smp) {
+		foreach_smp_target(head, target->smp_targets) {
+			xtensa = target_to_xtensa(head->target);
+			/* if any of the cores is stalled unstall them */
+			if (xtensa_dm_core_is_stalled(&xtensa->dbg_mod)) {
+				LOG_TARGET_DEBUG(head->target, "Unstall CPUs before SW reset!");
+				res = target_write_u32(target,
+					ESP32_RTC_CNTL_SW_CPU_STALL_REG,
+					ESP32_RTC_CNTL_SW_CPU_STALL_DEF);
+				if (res != ERROR_OK) {
+					LOG_TARGET_ERROR(head->target, "Failed to unstall CPUs before SW reset!");
+					return res;
+				}
+				break;	/* both cores are unstalled now, so exit the loop */
+			}
+		}
+	}
+
+	LOG_DEBUG("Loading stub code into RTC RAM");
+	uint8_t slow_mem_save[sizeof(esp32_reset_stub_code)];
+
+	/* Save contents of RTC_SLOW_MEM which we are about to overwrite */
+	res = target_read_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to save contents of RTC_SLOW_MEM (%d)!", res);
+		return res;
+	}
+
+	/* Write stub code into RTC_SLOW_MEM */
+	res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(esp32_reset_stub_code), esp32_reset_stub_code);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to write stub (%d)!", res);
+		return res;
+	}
+
+	LOG_DEBUG("Resuming the target");
+	xtensa = target_to_xtensa(target);
+	xtensa->suppress_dsr_errors = true;
+	res = xtensa_resume(target, 0, ESP32_RTC_SLOW_MEM_BASE + 4, 0, 0);
+	xtensa->suppress_dsr_errors = false;
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to run stub (%d)!", res);
+		return res;
+	}
+	LOG_DEBUG("resume done, waiting for the target to come alive");
+
+	/* Wait for SoC to reset */
+	alive_sleep(100);
+	int64_t timeout = timeval_ms() + 100;
+	bool get_timeout = false;
+	while (target->state != TARGET_RESET && target->state != TARGET_RUNNING) {
+		alive_sleep(10);
+		xtensa_poll(target);
+		if (timeval_ms() >= timeout) {
+			LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be reset, target state=%d", target->state);
+			get_timeout = true;
+			break;
+		}
+	}
+
+	/* Halt the CPU again */
+	LOG_DEBUG("halting the target");
+	xtensa_halt(target);
+	res = target_wait_state(target, TARGET_HALTED, 1000);
+	if (res == ERROR_OK) {
+		LOG_DEBUG("restoring RTC_SLOW_MEM");
+		res = target_write_buffer(target, ESP32_RTC_SLOW_MEM_BASE, sizeof(slow_mem_save), slow_mem_save);
+		if (res != ERROR_OK)
+			LOG_TARGET_ERROR(target, "Failed to restore contents of RTC_SLOW_MEM (%d)!", res);
+	} else {
+		LOG_TARGET_ERROR(target, "Timed out waiting for CPU to be halted after SoC reset");
+	}
+
+	return get_timeout ? ERROR_TARGET_TIMEOUT : res;
+}
+
+static int esp32_disable_wdts(struct target *target)
+{
+	/* TIMG1 WDT */
+	int res = target_write_u32(target, ESP32_TIMG0WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to write ESP32_TIMG0WDT_PROTECT (%d)!", res);
+		return res;
+	}
+	res = target_write_u32(target, ESP32_TIMG0WDT_CFG0, 0);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to write ESP32_TIMG0WDT_CFG0 (%d)!", res);
+		return res;
+	}
+	/* TIMG2 WDT */
+	res = target_write_u32(target, ESP32_TIMG1WDT_PROTECT, ESP32_WDT_WKEY_VALUE);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to write ESP32_TIMG1WDT_PROTECT (%d)!", res);
+		return res;
+	}
+	res = target_write_u32(target, ESP32_TIMG1WDT_CFG0, 0);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to write ESP32_TIMG1WDT_CFG0 (%d)!", res);
+		return res;
+	}
+	/* RTC WDT */
+	res = target_write_u32(target, ESP32_RTCWDT_PROTECT, ESP32_WDT_WKEY_VALUE);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to write ESP32_RTCWDT_PROTECT (%d)!", res);
+		return res;
+	}
+	res = target_write_u32(target, ESP32_RTCWDT_CFG, 0);
+	if (res != ERROR_OK) {
+		LOG_ERROR("Failed to write ESP32_RTCWDT_CFG (%d)!", res);
+		return res;
+	}
+	return ERROR_OK;
+}
+
+static int esp32_on_halt(struct target *target)
+{
+	return esp32_disable_wdts(target);
+}
+
+static int esp32_arch_state(struct target *target)
+{
+	return ERROR_OK;
+}
+
+static int esp32_virt2phys(struct target *target,
+	target_addr_t virtual, target_addr_t *physical)
+{
+	if (physical) {
+		*physical = virtual;
+		return ERROR_OK;
+	}
+	return ERROR_FAIL;
+}
+
+
+/* The TDI pin is also used as a flash Vcc bootstrap pin. If we reset the CPU externally, the last state of the TDI pin
+ * can allow the power to an 1.8V flash chip to be raised to 3.3V, or the other way around. Users can use the
+ * esp32 flashbootstrap command to set a level, and this routine will make sure the tdi line will return to
+ * that when the jtag port is idle. */
+
+static void esp32_queue_tdi_idle(struct target *target)
+{
+	struct esp32_common *esp32 = target_to_esp32(target);
+	static uint32_t value;
+	uint8_t t[4] = { 0, 0, 0, 0 };
+
+	if (esp32->flash_bootstrap == FBS_TMSLOW)
+		/* Make sure tdi is 0 at the exit of queue execution */
+		value = 0;
+	else if (esp32->flash_bootstrap == FBS_TMSHIGH)
+		/* Make sure tdi is 1 at the exit of queue execution */
+		value = 1;
+	else
+		return;
+
+	/* Scan out 1 bit, do not move from IRPAUSE after we're done. */
+	buf_set_u32(t, 0, 1, value);
+	jtag_add_plain_ir_scan(1, t, NULL, TAP_IRPAUSE);
+}
+
+static int esp32_target_init(struct command_context *cmd_ctx, struct target *target)
+{
+	return esp_xtensa_smp_target_init(cmd_ctx, target);
+}
+
+static const struct xtensa_debug_ops esp32_dbg_ops = {
+	.queue_enable = xtensa_dm_queue_enable,
+	.queue_reg_read = xtensa_dm_queue_reg_read,
+	.queue_reg_write = xtensa_dm_queue_reg_write
+};
+
+static const struct xtensa_power_ops esp32_pwr_ops = {
+	.queue_reg_read = xtensa_dm_queue_pwr_reg_read,
+	.queue_reg_write = xtensa_dm_queue_pwr_reg_write
+};
+
+static const struct esp_xtensa_smp_chip_ops esp32_chip_ops = {
+	.reset = esp32_soc_reset,
+	.on_halt = esp32_on_halt
+};
+
+static int esp32_target_create(struct target *target, Jim_Interp *interp)
+{
+	struct xtensa_debug_module_config esp32_dm_cfg = {
+		.dbg_ops = &esp32_dbg_ops,
+		.pwr_ops = &esp32_pwr_ops,
+		.tap = target->tap,
+		.queue_tdi_idle = esp32_queue_tdi_idle,
+		.queue_tdi_idle_arg = target
+	};
+
+	struct esp32_common *esp32 = calloc(1, sizeof(struct esp32_common));
+	if (!esp32) {
+		LOG_ERROR("Failed to alloc memory for arch info!");
+		return ERROR_FAIL;
+	}
+
+	int ret = esp_xtensa_smp_init_arch_info(target, &esp32->esp_xtensa_smp, &esp32_xtensa_cfg,
+		&esp32_dm_cfg, &esp32_chip_ops);
+	if (ret != ERROR_OK) {
+		LOG_ERROR("Failed to init arch info!");
+		free(esp32);
+		return ret;
+	}
+	esp32->flash_bootstrap = FBS_DONTCARE;
+
+	/* Assume running target. If different, the first poll will fix this. */
+	target->state = TARGET_RUNNING;
+	target->debug_reason = DBG_REASON_NOTHALTED;
+	return ERROR_OK;
+}
+
+COMMAND_HELPER(esp32_cmd_flashbootstrap_do, struct esp32_common *esp32)
+{
+	int state = -1;
+
+	if (CMD_ARGC < 1) {
+		const char *st;
+		state = esp32->flash_bootstrap;
+		if (state == FBS_DONTCARE)
+			st = "Don't care";
+		else if (state == FBS_TMSLOW)
+			st = "Low (3.3V)";
+		else if (state == FBS_TMSHIGH)
+			st = "High (1.8V)";
+		else
+			st = "None";
+		command_print(CMD, "Current idle tms state: %s", st);
+		return ERROR_OK;
+	}
+
+	if (!strcasecmp(CMD_ARGV[0], "none"))
+		state = FBS_DONTCARE;
+	else if (!strcasecmp(CMD_ARGV[0], "1.8"))
+		state = FBS_TMSHIGH;
+	else if (!strcasecmp(CMD_ARGV[0], "3.3"))
+		state = FBS_TMSLOW;
+	else if (!strcasecmp(CMD_ARGV[0], "high"))
+		state = FBS_TMSHIGH;
+	else if (!strcasecmp(CMD_ARGV[0], "low"))
+		state = FBS_TMSLOW;
+
+	if (state == -1) {
+		command_print(CMD,
+			"Argument unknown. Please pick one of none, high, low, 1.8 or 3.3");
+		return ERROR_FAIL;
+	}
+	esp32->flash_bootstrap = state;
+	return ERROR_OK;
+}
+
+COMMAND_HANDLER(esp32_cmd_flashbootstrap)
+{
+	struct target *target = get_current_target(CMD_CTX);
+
+	if (target->smp) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
+				target_to_esp32(curr));
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(esp32_cmd_flashbootstrap_do,
+		target_to_esp32(target));
+}
+
+static const struct command_registration esp32_any_command_handlers[] = {
+	{
+		.name = "flashbootstrap",
+		.handler = esp32_cmd_flashbootstrap,
+		.mode = COMMAND_ANY,
+		.help =
+			"Set the idle state of the TMS pin, which at reset also is the voltage selector for the flash chip.",
+		.usage = "none|1.8|3.3|high|low",
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
+extern const struct command_registration semihosting_common_handlers[];
+static const struct command_registration esp32_command_handlers[] = {
+	{
+		.chain = esp_xtensa_smp_command_handlers,
+	},
+	{
+		.name = "esp32",
+		.usage = "",
+		.chain = smp_command_handlers,
+	},
+	{
+		.name = "esp32",
+		.usage = "",
+		.chain = esp32_any_command_handlers,
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
+/** Holds methods for Xtensa targets. */
+struct target_type esp32_target = {
+	.name = "esp32",
+
+	.poll = esp_xtensa_smp_poll,
+	.arch_state = esp32_arch_state,
+
+	.halt = xtensa_halt,
+	.resume = esp_xtensa_smp_resume,
+	.step = esp_xtensa_smp_step,
+
+	.assert_reset = esp_xtensa_smp_assert_reset,
+	.deassert_reset = esp_xtensa_smp_deassert_reset,
+	.soft_reset_halt = esp_xtensa_smp_soft_reset_halt,
+
+	.virt2phys = esp32_virt2phys,
+	.mmu = xtensa_mmu_is_enabled,
+	.read_memory = xtensa_read_memory,
+	.write_memory = xtensa_write_memory,
+
+	.read_buffer = xtensa_read_buffer,
+	.write_buffer = xtensa_write_buffer,
+
+	.checksum_memory = xtensa_checksum_memory,
+
+	.get_gdb_arch = xtensa_get_gdb_arch,
+	.get_gdb_reg_list = xtensa_get_gdb_reg_list,
+
+	.add_breakpoint = esp_xtensa_breakpoint_add,
+	.remove_breakpoint = esp_xtensa_breakpoint_remove,
+
+	.add_watchpoint = esp_xtensa_smp_watchpoint_add,
+	.remove_watchpoint = esp_xtensa_smp_watchpoint_remove,
+
+	.target_create = esp32_target_create,
+	.init_target = esp32_target_init,
+	.examine = xtensa_examine,
+	.deinit_target = esp_xtensa_target_deinit,
+
+	.commands = esp32_command_handlers,
+};
diff --git a/src/target/espressif/esp32.h b/src/target/espressif/esp32.h
new file mode 100644
index 0000000..bb812d0
--- /dev/null
+++ b/src/target/espressif/esp32.h
@@ -0,0 +1,42 @@
+/***************************************************************************
+ *   ESP32 target for OpenOCD                                              *
+ *   Copyright (C) 2017 Espressif Systems Ltd.                             *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifndef OPENOCD_TARGET_ESP32_H
+#define OPENOCD_TARGET_ESP32_H
+
+#include <target/xtensa/xtensa_regs.h>
+
+#define ESP32_DROM_LOW             0x3F400000
+#define ESP32_DROM_HIGH            0x3F800000
+#define ESP32_IROM_LOW             0x400D0000
+#define ESP32_IROM_HIGH            0x40400000
+
+/* Number of registers returned directly by the G command
+ * Corresponds to the amount of regs listed in regformats/reg-xtensa.dat in the gdb source */
+#define ESP32_NUM_REGS_G_COMMAND   105
+
+enum esp32_reg_id {
+	/* chip specific registers that extend ISA go after ISA-defined ones */
+	ESP32_REG_IDX_EXPSTATE = XT_USR_REG_START,
+	ESP32_REG_IDX_F64R_LO,
+	ESP32_REG_IDX_F64R_HI,
+	ESP32_REG_IDX_F64S,
+	ESP32_NUM_REGS,
+};
+
+#endif	/* OPENOCD_TARGET_ESP32_H */
diff --git a/src/target/espressif/esp32s2.c b/src/target/espressif/esp32s2.c
index 212533f..3698032 100644
--- a/src/target/espressif/esp32s2.c
+++ b/src/target/espressif/esp32s2.c
@@ -474,7 +474,7 @@ static int esp32s2_soc_reset(struct target *target)
 	res = esp32s2_set_peri_reg_mask(target,
 		ESP32_S2_OPTIONS0,
 		ESP32_S2_SW_SYS_RST_M,
-		1U << ESP32_S2_SW_SYS_RST_S);
+		BIT(ESP32_S2_SW_SYS_RST_S));
 	xtensa->suppress_dsr_errors = false;
 	if (res != ERROR_OK) {
 		LOG_ERROR("Failed to write ESP32_S2_OPTIONS0 (%d)!", res);
diff --git a/src/target/espressif/esp_xtensa_smp.c b/src/target/espressif/esp_xtensa_smp.c
new file mode 100644
index 0000000..1c36a29
--- /dev/null
+++ b/src/target/espressif/esp_xtensa_smp.c
@@ -0,0 +1,716 @@
+/***************************************************************************
+ *   ESP Xtensa SMP target API for OpenOCD                                 *
+ *   Copyright (C) 2020 Espressif Systems Ltd. Co                          *
+ *   Author: Alexey Gerenkov <alexey@espressif.com>                        *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "assert.h"
+#include <target/target.h>
+#include <target/target_type.h>
+#include <target/smp.h>
+#include "esp_xtensa_smp.h"
+
+/*
+Multiprocessor stuff common:
+
+The ESP Xtensa chip can have several cores in it, which can run in SMP-mode if an
+SMP-capable OS is running. The hardware has a few features which makes
+SMP debugging much easier.
+
+First of all, there's something called a 'break network', consisting of a
+BreakIn input  and a BreakOut output on each CPU. The idea is that as soon
+as a CPU goes into debug mode for whatever reason, it'll signal that using
+its DebugOut pin. This signal is connected to the other CPU's DebugIn
+input, causing this CPU also to go into debugging mode. To resume execution
+when using only this break network, we will need to manually resume both
+CPUs.
+
+An alternative to this is the XOCDMode output and the RunStall (or DebugStall)
+input. When these are cross-connected, a CPU that goes into debug mode will
+halt execution entirely on the other CPU. Execution on the other CPU can be
+resumed by either the first CPU going out of debug mode, or the second CPU
+going into debug mode: the stall is temporarily lifted as long as the stalled
+CPU is in debug mode.
+
+A third, separate, signal is CrossTrigger. This is connected in the same way
+as the breakIn/breakOut network, but is for the TRAX (trace memory) feature;
+it does not affect OCD in any way.
+*/
+
+/*
+Multiprocessor stuff:
+
+The ESP Xtensa chip has several Xtensa cores inside, but represent themself to the OCD
+as one chip that works in multithreading mode under FreeRTOS OS.
+The core that initiate the stop condition will be defined as an active cpu.
+When one core stops, then other core will be stopped automatically by smpbreak.
+The core that initiates stop condition will be defined as an active core, and
+registers of this core will be transferred.
+*/
+
+#define ESP_XTENSA_SMP_EXAMINE_OTHER_CORES      5
+
+static int esp_xtensa_smp_update_halt_gdb(struct target *target, bool *need_resume);
+
+static inline struct esp_xtensa_smp_common *target_to_esp_xtensa_smp(struct target *target)
+{
+	return container_of(target->arch_info, struct esp_xtensa_smp_common, esp_xtensa);
+}
+
+int esp_xtensa_smp_assert_reset(struct target *target)
+{
+	return ERROR_OK;
+}
+
+int esp_xtensa_smp_deassert_reset(struct target *target)
+{
+	LOG_TARGET_DEBUG(target, "begin");
+
+	int ret = xtensa_deassert_reset(target);
+	if (ret != ERROR_OK)
+		return ret;
+	/* in SMP mode when chip was running single-core app the other core can be left un-examined,
+	   because examination is done before SOC reset. But after SOC reset it is functional and should be handled.
+	   So try to examine un-examined core just after SOC reset */
+	if (target->smp && !target_was_examined(target))
+		ret = xtensa_examine(target);
+	return ret;
+}
+
+int esp_xtensa_smp_soft_reset_halt(struct target *target)
+{
+	int res;
+	struct target_list *head;
+	struct esp_xtensa_smp_common *esp_xtensa_smp = target_to_esp_xtensa_smp(target);
+
+	LOG_TARGET_DEBUG(target, "begin");
+	/* in SMP mode we need to ensure that at first we reset SOC on PRO-CPU
+	   and then call xtensa_assert_reset() for all cores */
+	if (target->smp && target->coreid != 0)
+		return ERROR_OK;
+	/* Reset the SoC first */
+	if (esp_xtensa_smp->chip_ops->reset) {
+		res = esp_xtensa_smp->chip_ops->reset(target);
+		if (res != ERROR_OK)
+			return res;
+	}
+	if (!target->smp)
+		return xtensa_assert_reset(target);
+
+	foreach_smp_target(head, target->smp_targets) {
+		res = xtensa_assert_reset(head->target);
+		if (res != ERROR_OK)
+			return res;
+	}
+	return ERROR_OK;
+}
+
+static struct target *get_halted_esp_xtensa_smp(struct target *target, int32_t coreid)
+{
+	struct target_list *head;
+	struct target *curr;
+
+	foreach_smp_target(head, target->smp_targets) {
+		curr = head->target;
+		if ((curr->coreid == coreid) && (curr->state == TARGET_HALTED))
+			return curr;
+	}
+
+	return target;
+}
+
+int esp_xtensa_smp_poll(struct target *target)
+{
+	enum target_state old_state = target->state;
+	struct esp_xtensa_smp_common *esp_xtensa_smp = target_to_esp_xtensa_smp(target);
+	struct target_list *head;
+	struct target *curr;
+	bool other_core_resume_req = false;
+
+	if (target->state == TARGET_HALTED && target->smp && target->gdb_service && !target->gdb_service->target) {
+		target->gdb_service->target = get_halted_esp_xtensa_smp(target, target->gdb_service->core[1]);
+		LOG_INFO("Switch GDB target to '%s'", target_name(target->gdb_service->target));
+		if (esp_xtensa_smp->chip_ops->on_halt)
+			esp_xtensa_smp->chip_ops->on_halt(target);
+		target_call_event_callbacks(target, TARGET_EVENT_HALTED);
+		return ERROR_OK;
+	}
+
+	int ret = esp_xtensa_poll(target);
+	if (ret != ERROR_OK)
+		return ret;
+
+	if (target->smp) {
+		if (target->state == TARGET_RESET) {
+			esp_xtensa_smp->examine_other_cores = ESP_XTENSA_SMP_EXAMINE_OTHER_CORES;
+		} else if (esp_xtensa_smp->examine_other_cores > 0 &&
+			(target->state == TARGET_RUNNING || target->state == TARGET_HALTED)) {
+			LOG_TARGET_DEBUG(target, "Check for unexamined cores after reset");
+			bool all_examined = true;
+			foreach_smp_target(head, target->smp_targets) {
+				curr = head->target;
+				if (curr == target)
+					continue;
+				if (!target_was_examined(curr)) {
+					if (target_examine_one(curr) != ERROR_OK) {
+						LOG_DEBUG("Failed to examine!");
+						all_examined = false;
+					}
+				}
+			}
+			if (all_examined)
+				esp_xtensa_smp->examine_other_cores = 0;
+			else
+				esp_xtensa_smp->examine_other_cores--;
+		}
+	}
+
+	if (old_state != TARGET_HALTED && target->state == TARGET_HALTED) {
+		if (target->smp) {
+			ret = esp_xtensa_smp_update_halt_gdb(target, &other_core_resume_req);
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		/* Call any event callbacks that are applicable */
+		if (old_state == TARGET_DEBUG_RUNNING) {
+			target_call_event_callbacks(target, TARGET_EVENT_DEBUG_HALTED);
+		} else {
+			/* check whether any core polled by esp_xtensa_smp_update_halt_gdb() requested resume */
+			if (target->smp && other_core_resume_req) {
+				/* Resume xtensa_resume will handle BREAK instruction. */
+				ret = target_resume(target, 1, 0, 1, 0);
+				if (ret != ERROR_OK) {
+					LOG_ERROR("Failed to resume target");
+					return ret;
+				}
+				return ERROR_OK;
+			}
+			if (esp_xtensa_smp->chip_ops->on_halt)
+				esp_xtensa_smp->chip_ops->on_halt(target);
+			target_call_event_callbacks(target, TARGET_EVENT_HALTED);
+		}
+	}
+
+	return ERROR_OK;
+}
+
+static int esp_xtensa_smp_update_halt_gdb(struct target *target, bool *need_resume)
+{
+	struct esp_xtensa_smp_common *esp_xtensa_smp;
+	struct target *gdb_target = NULL;
+	struct target_list *head;
+	struct target *curr;
+	int ret = ERROR_OK;
+
+	*need_resume = false;
+
+	if (target->gdb_service && target->gdb_service->target)
+		LOG_DEBUG("GDB target '%s'", target_name(target->gdb_service->target));
+
+	if (target->gdb_service && target->gdb_service->core[0] == -1) {
+		target->gdb_service->target = target;
+		target->gdb_service->core[0] = target->coreid;
+		LOG_INFO("Set GDB target to '%s'", target_name(target));
+	}
+
+	if (target->gdb_service)
+		gdb_target = target->gdb_service->target;
+
+	/* due to smpbreak config other cores can also go to HALTED state */
+	foreach_smp_target(head, target->smp_targets) {
+		curr = head->target;
+		LOG_DEBUG("Check target '%s'", target_name(curr));
+		/* skip calling context */
+		if (curr == target)
+			continue;
+		if (!target_was_examined(curr)) {
+			curr->state = TARGET_HALTED;
+			continue;
+		}
+		/* skip targets that were already halted */
+		if (curr->state == TARGET_HALTED)
+			continue;
+		/* Skip gdb_target; it alerts GDB so has to be polled as last one */
+		if (curr == gdb_target)
+			continue;
+		LOG_DEBUG("Poll target '%s'", target_name(curr));
+
+		esp_xtensa_smp = target_to_esp_xtensa_smp(curr);
+		/* avoid auto-resume after syscall, it will be done later */
+		esp_xtensa_smp->other_core_does_resume = true;
+		/* avoid recursion in esp_xtensa_smp_poll() */
+		curr->smp = 0;
+		if (esp_xtensa_smp->chip_ops->poll)
+			ret = esp_xtensa_smp->chip_ops->poll(curr);
+		else
+			ret = esp_xtensa_smp_poll(curr);
+		curr->smp = 1;
+		if (ret != ERROR_OK)
+			return ret;
+		esp_xtensa_smp->other_core_does_resume = false;
+	}
+
+	/* after all targets were updated, poll the gdb serving target */
+	if (gdb_target && gdb_target != target) {
+		esp_xtensa_smp = target_to_esp_xtensa_smp(gdb_target);
+		if (esp_xtensa_smp->chip_ops->poll)
+			ret = esp_xtensa_smp->chip_ops->poll(gdb_target);
+		else
+			ret = esp_xtensa_smp_poll(gdb_target);
+	}
+
+	LOG_DEBUG("exit");
+
+	return ret;
+}
+
+static inline int esp_xtensa_smp_smpbreak_disable(struct target *target, uint32_t *smp_break)
+{
+	int res = xtensa_smpbreak_get(target, smp_break);
+	if (res != ERROR_OK)
+		return res;
+	return xtensa_smpbreak_set(target, 0);
+}
+
+static inline int esp_xtensa_smp_smpbreak_restore(struct target *target, uint32_t smp_break)
+{
+	return xtensa_smpbreak_set(target, smp_break);
+}
+
+static int esp_xtensa_smp_resume_cores(struct target *target,
+	int handle_breakpoints,
+	int debug_execution)
+{
+	struct target_list *head;
+	struct target *curr;
+
+	LOG_TARGET_DEBUG(target, "begin");
+
+	foreach_smp_target(head, target->smp_targets) {
+		curr = head->target;
+		/* in single-core mode disabled core cannot be examined, but need to be resumed too*/
+		if ((curr != target) && (curr->state != TARGET_RUNNING) && target_was_examined(curr)) {
+			/*  resume current address, not in SMP mode */
+			curr->smp = 0;
+			int res = esp_xtensa_smp_resume(curr, 1, 0, handle_breakpoints, debug_execution);
+			curr->smp = 1;
+			if (res != ERROR_OK)
+				return res;
+		}
+	}
+	return ERROR_OK;
+}
+
+int esp_xtensa_smp_resume(struct target *target,
+	int current,
+	target_addr_t address,
+	int handle_breakpoints,
+	int debug_execution)
+{
+	int res;
+	uint32_t smp_break;
+
+	xtensa_smpbreak_get(target, &smp_break);
+	LOG_TARGET_DEBUG(target, "smp_break=0x%" PRIx32, smp_break);
+
+	/* dummy resume for smp toggle in order to reduce gdb impact  */
+	if ((target->smp) && (target->gdb_service) && (target->gdb_service->core[1] != -1)) {
+		/* simulate a start and halt of target */
+		target->gdb_service->target = NULL;
+		target->gdb_service->core[0] = target->gdb_service->core[1];
+		/* fake resume at next poll we play the  target core[1], see poll*/
+		LOG_TARGET_DEBUG(target, "Fake resume");
+		target_call_event_callbacks(target, TARGET_EVENT_RESUMED);
+		return ERROR_OK;
+	}
+
+	/* xtensa_prepare_resume() can step over breakpoint/watchpoint and generate signals on BreakInOut circuit for
+	 * other cores. So disconnect this core from BreakInOut circuit and do xtensa_prepare_resume(). */
+	res = esp_xtensa_smp_smpbreak_disable(target, &smp_break);
+	if (res != ERROR_OK)
+		return res;
+	res = xtensa_prepare_resume(target, current, address, handle_breakpoints, debug_execution);
+	/* restore configured BreakInOut signals config */
+	int ret = esp_xtensa_smp_smpbreak_restore(target, smp_break);
+	if (ret != ERROR_OK)
+		return ret;
+	if (res != ERROR_OK) {
+		LOG_TARGET_ERROR(target, "Failed to prepare for resume!");
+		return res;
+	}
+
+	if (target->smp) {
+		if (target->gdb_service)
+			target->gdb_service->core[0] = -1;
+		res = esp_xtensa_smp_resume_cores(target, handle_breakpoints, debug_execution);
+		if (res != ERROR_OK)
+			return res;
+	}
+
+	res = xtensa_do_resume(target);
+	if (res != ERROR_OK) {
+		LOG_TARGET_ERROR(target, "Failed to resume!");
+		return res;
+	}
+
+	target->debug_reason = DBG_REASON_NOTHALTED;
+	if (!debug_execution)
+		target->state = TARGET_RUNNING;
+	else
+		target->state = TARGET_DEBUG_RUNNING;
+
+	target_call_event_callbacks(target, TARGET_EVENT_RESUMED);
+	return ERROR_OK;
+}
+
+int esp_xtensa_smp_step(struct target *target,
+	int current,
+	target_addr_t address,
+	int handle_breakpoints)
+{
+	int res;
+	uint32_t smp_break;
+	struct esp_xtensa_smp_common *esp_xtensa_smp = target_to_esp_xtensa_smp(target);
+
+	if (target->smp) {
+		res = esp_xtensa_smp_smpbreak_disable(target, &smp_break);
+		if (res != ERROR_OK)
+			return res;
+	}
+	res = xtensa_step(target, current, address, handle_breakpoints);
+
+	if (res == ERROR_OK) {
+		if (esp_xtensa_smp->chip_ops->on_halt)
+			esp_xtensa_smp->chip_ops->on_halt(target);
+		target_call_event_callbacks(target, TARGET_EVENT_HALTED);
+	}
+
+	if (target->smp) {
+		int ret = esp_xtensa_smp_smpbreak_restore(target, smp_break);
+		if (ret != ERROR_OK)
+			return ret;
+	}
+
+	return res;
+}
+
+int esp_xtensa_smp_watchpoint_add(struct target *target, struct watchpoint *watchpoint)
+{
+	int res = xtensa_watchpoint_add(target, watchpoint);
+	if (res != ERROR_OK)
+		return res;
+
+	if (!target->smp)
+		return ERROR_OK;
+
+	struct target_list *head;
+	foreach_smp_target(head, target->smp_targets) {
+		struct target *curr = head->target;
+		if (curr == target || !target_was_examined(curr))
+			continue;
+		/* Need to use high level API here because every target for core contains list of watchpoints.
+		 * GDB works with active core only, so we need to duplicate every watchpoint on other cores,
+		 * otherwise watchpoint_free() on active core can fail if WP has been initially added on another core. */
+		curr->smp = 0;
+		res = watchpoint_add(curr, watchpoint->address, watchpoint->length,
+			watchpoint->rw, watchpoint->value, watchpoint->mask);
+		curr->smp = 1;
+		if (res != ERROR_OK)
+			return res;
+	}
+	return ERROR_OK;
+}
+
+int esp_xtensa_smp_watchpoint_remove(struct target *target, struct watchpoint *watchpoint)
+{
+	int res = xtensa_watchpoint_remove(target, watchpoint);
+	if (res != ERROR_OK)
+		return res;
+
+	if (!target->smp)
+		return ERROR_OK;
+
+	struct target_list *head;
+	foreach_smp_target(head, target->smp_targets) {
+		struct target *curr = head->target;
+		if (curr == target)
+			continue;
+		/* see big comment in esp_xtensa_smp_watchpoint_add() */
+		curr->smp = 0;
+		watchpoint_remove(curr, watchpoint->address);
+		curr->smp = 1;
+	}
+	return ERROR_OK;
+}
+
+int esp_xtensa_smp_init_arch_info(struct target *target,
+	struct esp_xtensa_smp_common *esp_xtensa_smp,
+	const struct xtensa_config *xtensa_cfg,
+	struct xtensa_debug_module_config *dm_cfg,
+	const struct esp_xtensa_smp_chip_ops *chip_ops)
+{
+	int ret = esp_xtensa_init_arch_info(target, &esp_xtensa_smp->esp_xtensa, xtensa_cfg, dm_cfg);
+	if (ret != ERROR_OK)
+		return ret;
+	esp_xtensa_smp->chip_ops = chip_ops;
+	esp_xtensa_smp->examine_other_cores = ESP_XTENSA_SMP_EXAMINE_OTHER_CORES;
+	return ERROR_OK;
+}
+
+int esp_xtensa_smp_target_init(struct command_context *cmd_ctx, struct target *target)
+{
+	return esp_xtensa_target_init(cmd_ctx, target);
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_permissive_mode)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp && CMD_ARGC > 0) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_permissive_mode_do,
+				target_to_xtensa(curr));
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_permissive_mode_do,
+		target_to_xtensa(target));
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_smpbreak)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp && CMD_ARGC > 0) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_smpbreak_do, curr);
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_smpbreak_do, target);
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_mask_interrupts)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp && CMD_ARGC > 0) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_mask_interrupts_do,
+				target_to_xtensa(curr));
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_mask_interrupts_do,
+		target_to_xtensa(target));
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_perfmon_enable)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp && CMD_ARGC > 0) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_perfmon_enable_do,
+				target_to_xtensa(curr));
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_perfmon_enable_do,
+		target_to_xtensa(target));
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_perfmon_dump)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			LOG_INFO("CPU%d:", curr->coreid);
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_perfmon_dump_do,
+				target_to_xtensa(curr));
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_perfmon_dump_do,
+		target_to_xtensa(target));
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_tracestart)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_tracestart_do,
+				target_to_xtensa(curr));
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_tracestart_do,
+		target_to_xtensa(target));
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_tracestop)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp) {
+		struct target_list *head;
+		struct target *curr;
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_tracestop_do,
+				target_to_xtensa(curr));
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_tracestop_do,
+		target_to_xtensa(target));
+}
+
+COMMAND_HANDLER(esp_xtensa_smp_cmd_tracedump)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	if (target->smp) {
+		struct target_list *head;
+		struct target *curr;
+		int32_t cores_max_id = 0;
+		/* assume that core IDs are assigned to SMP targets sequentially: 0,1,2... */
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			if (cores_max_id < curr->coreid)
+				cores_max_id = curr->coreid;
+		}
+		if (CMD_ARGC < ((uint32_t)cores_max_id + 1)) {
+			command_print(CMD,
+				"Need %d filenames to dump to as output!",
+				cores_max_id + 1);
+			return ERROR_FAIL;
+		}
+		foreach_smp_target(head, target->smp_targets) {
+			curr = head->target;
+			int ret = CALL_COMMAND_HANDLER(xtensa_cmd_tracedump_do,
+				target_to_xtensa(curr), CMD_ARGV[curr->coreid]);
+			if (ret != ERROR_OK)
+				return ret;
+		}
+		return ERROR_OK;
+	}
+	return CALL_COMMAND_HANDLER(xtensa_cmd_tracedump_do,
+		target_to_xtensa(target), CMD_ARGV[0]);
+}
+
+const struct command_registration esp_xtensa_smp_xtensa_command_handlers[] = {
+	{
+		.name = "set_permissive",
+		.handler = esp_xtensa_smp_cmd_permissive_mode,
+		.mode = COMMAND_ANY,
+		.help = "When set to 1, enable Xtensa permissive mode (less client-side checks)",
+		.usage = "[0|1]",
+	},
+	{
+		.name = "maskisr",
+		.handler = esp_xtensa_smp_cmd_mask_interrupts,
+		.mode = COMMAND_ANY,
+		.help = "mask Xtensa interrupts at step",
+		.usage = "['on'|'off']",
+	},
+	{
+		.name = "smpbreak",
+		.handler = esp_xtensa_smp_cmd_smpbreak,
+		.mode = COMMAND_ANY,
+		.help = "Set the way the CPU chains OCD breaks",
+		.usage =
+			"[none|breakinout|runstall] | [BreakIn] [BreakOut] [RunStallIn] [DebugModeOut]",
+	},
+	{
+		.name = "perfmon_enable",
+		.handler = esp_xtensa_smp_cmd_perfmon_enable,
+		.mode = COMMAND_EXEC,
+		.help = "Enable and start performance counter",
+		.usage = "<counter_id> <select> [mask] [kernelcnt] [tracelevel]",
+	},
+	{
+		.name = "perfmon_dump",
+		.handler = esp_xtensa_smp_cmd_perfmon_dump,
+		.mode = COMMAND_EXEC,
+		.help =
+			"Dump performance counter value. If no argument specified, dumps all counters.",
+		.usage = "[counter_id]",
+	},
+	{
+		.name = "tracestart",
+		.handler = esp_xtensa_smp_cmd_tracestart,
+		.mode = COMMAND_EXEC,
+		.help =
+			"Tracing: Set up and start a trace. Optionally set stop trigger address and amount of data captured after.",
+		.usage = "[pc <pcval>/[maskbitcount]] [after <n> [ins|words]]",
+	},
+	{
+		.name = "tracestop",
+		.handler = esp_xtensa_smp_cmd_tracestop,
+		.mode = COMMAND_EXEC,
+		.help = "Tracing: Stop current trace as started by the tracestart command",
+		.usage = "",
+	},
+	{
+		.name = "tracedump",
+		.handler = esp_xtensa_smp_cmd_tracedump,
+		.mode = COMMAND_EXEC,
+		.help = "Tracing: Dump trace memory to a files. One file per core.",
+		.usage = "<outfile1> <outfile2>",
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
+const struct command_registration esp_xtensa_smp_command_handlers[] = {
+	{
+		.name = "xtensa",
+		.usage = "",
+		.chain = esp_xtensa_smp_xtensa_command_handlers,
+	},
+	COMMAND_REGISTRATION_DONE
+};
diff --git a/src/target/espressif/esp_xtensa_smp.h b/src/target/espressif/esp_xtensa_smp.h
new file mode 100644
index 0000000..e31bb93
--- /dev/null
+++ b/src/target/espressif/esp_xtensa_smp.h
@@ -0,0 +1,65 @@
+/***************************************************************************
+ *   ESP Xtensa SMP target for OpenOCD                                     *
+ *   Copyright (C) 2020 Espressif Systems Ltd. Co                          *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifndef OPENOCD_TARGET_XTENSA_ESP_SMP_H
+#define OPENOCD_TARGET_XTENSA_ESP_SMP_H
+
+#include "esp_xtensa.h"
+
+struct esp_xtensa_smp_chip_ops {
+	int (*poll)(struct target *target);
+	int (*reset)(struct target *target);
+	int (*on_halt)(struct target *target);
+};
+
+struct esp_xtensa_smp_common {
+	struct esp_xtensa_common esp_xtensa;
+	const struct esp_xtensa_smp_chip_ops *chip_ops;
+	bool other_core_does_resume;
+	/* number of attempts to examine other SMP cores, attempts are made after reset on target poll */
+	int examine_other_cores;
+};
+
+int esp_xtensa_smp_poll(struct target *target);
+int esp_xtensa_smp_resume(struct target *target,
+	int current,
+	target_addr_t address,
+	int handle_breakpoints,
+	int debug_execution);
+int esp_xtensa_smp_step(struct target *target,
+	int current,
+	target_addr_t address,
+	int handle_breakpoints);
+int esp_xtensa_smp_assert_reset(struct target *target);
+int esp_xtensa_smp_deassert_reset(struct target *target);
+int esp_xtensa_smp_soft_reset_halt(struct target *target);
+int esp_xtensa_smp_watchpoint_add(struct target *target, struct watchpoint *watchpoint);
+int esp_xtensa_smp_watchpoint_remove(struct target *target, struct watchpoint *watchpoint);
+int esp_xtensa_smp_handle_target_event(struct target *target, enum target_event event, void *priv);
+int esp_xtensa_smp_target_init(struct command_context *cmd_ctx, struct target *target);
+int esp_xtensa_smp_init_arch_info(struct target *target,
+	struct esp_xtensa_smp_common *esp_xtensa_smp,
+	const struct xtensa_config *xtensa_cfg,
+	struct xtensa_debug_module_config *dm_cfg,
+	const struct esp_xtensa_smp_chip_ops *chip_ops);
+
+extern const struct command_registration esp_xtensa_smp_command_handlers[];
+extern const struct command_registration esp_xtensa_smp_xtensa_command_handlers[];
+extern const struct command_registration esp_xtensa_smp_esp_command_handlers[];
+
+#endif	/* OPENOCD_TARGET_XTENSA_ESP_SMP_H */
diff --git a/src/target/target.c b/src/target/target.c
index e2004e4..ea49b79 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -105,6 +105,7 @@ extern struct target_type hla_target;
 extern struct target_type nds32_v2_target;
 extern struct target_type nds32_v3_target;
 extern struct target_type nds32_v3m_target;
+extern struct target_type esp32_target;
 extern struct target_type esp32s2_target;
 extern struct target_type or1k_target;
 extern struct target_type quark_x10xx_target;
@@ -142,6 +143,7 @@ static struct target_type *target_types[] = {
 	&nds32_v2_target,
 	&nds32_v3_target,
 	&nds32_v3m_target,
+	&esp32_target,
 	&esp32s2_target,
 	&or1k_target,
 	&quark_x10xx_target,
@@ -3336,7 +3338,7 @@ COMMAND_HANDLER(handle_soft_reset_halt_command)
 {
 	struct target *target = get_current_target(CMD_CTX);
 
-	LOG_USER("requesting target halt and executing a soft reset");
+	LOG_TARGET_INFO(target, "requesting target halt and executing a soft reset");
 
 	target_soft_reset_halt(target);
 
diff --git a/src/target/xtensa/xtensa.h b/src/target/xtensa/xtensa.h
index d8b15e1..d1ca0b4 100644
--- a/src/target/xtensa/xtensa.h
+++ b/src/target/xtensa/xtensa.h
@@ -302,6 +302,16 @@ int xtensa_fetch_user_regs_u32(struct target *target);
 int xtensa_queue_write_dirty_user_regs_u32(struct target *target);
 const char *xtensa_get_gdb_arch(struct target *target);
 
+
+COMMAND_HELPER(xtensa_cmd_permissive_mode_do, struct xtensa *xtensa);
+COMMAND_HELPER(xtensa_cmd_mask_interrupts_do, struct xtensa *xtensa);
+COMMAND_HELPER(xtensa_cmd_smpbreak_do, struct target *target);
+COMMAND_HELPER(xtensa_cmd_perfmon_dump_do, struct xtensa *xtensa);
+COMMAND_HELPER(xtensa_cmd_perfmon_enable_do, struct xtensa *xtensa);
+COMMAND_HELPER(xtensa_cmd_tracestart_do, struct xtensa *xtensa);
+COMMAND_HELPER(xtensa_cmd_tracestop_do, struct xtensa *xtensa);
+COMMAND_HELPER(xtensa_cmd_tracedump_do, struct xtensa *xtensa, const char *fname);
+
 extern const struct reg_arch_type xtensa_user_reg_u32_type;
 extern const struct reg_arch_type xtensa_user_reg_u128_type;
 extern const struct command_registration xtensa_command_handlers[];
diff --git a/tcl/board/esp32-ethernet-kit-3.3v.cfg b/tcl/board/esp32-ethernet-kit-3.3v.cfg
new file mode 100644
index 0000000..3bfe84b
--- /dev/null
+++ b/tcl/board/esp32-ethernet-kit-3.3v.cfg
@@ -0,0 +1,22 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32-ETHERNET-KIT board.
+#
+# For example, OpenOCD can be started for ESP32 debugging on
+#
+#   openocd -f board/esp32-ethernet-kit-3.3v.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/ftdi/esp32_devkitj_v1.cfg]
+set ESP32_FLASH_VOLTAGE 3.3
+# Source the ESP32 configuration file
+source [find target/esp32.cfg]
+
+# The speed of the JTAG interface, in kHz. If you get DSR/DIR errors (and they
+# do not relate to OpenOCD trying to read from a memory range without physical
+# memory being present there), you can try lowering this.
+#
+# On DevKit-J, this can go as high as 20MHz if CPU frequency is 80MHz, or 26MHz
+# if CPU frequency is 160MHz or 240MHz.
+adapter speed 20000
diff --git a/tcl/board/esp32-wrover-kit-1.8v.cfg b/tcl/board/esp32-wrover-kit-1.8v.cfg
new file mode 100644
index 0000000..9aa3954
--- /dev/null
+++ b/tcl/board/esp32-wrover-kit-1.8v.cfg
@@ -0,0 +1,22 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32-WROVER-KIT board.
+#
+# For example, OpenOCD can be started for ESP32 debugging on
+#
+#   openocd -f board/esp32-wrover-kit-1.8v.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/ftdi/esp32_devkitj_v1.cfg]
+set ESP32_FLASH_VOLTAGE 1.8
+# Source the ESP32 configuration file
+source [find target/esp32.cfg]
+
+# The speed of the JTAG interface, in kHz. If you get DSR/DIR errors (and they
+# do not relate to OpenOCD trying to read from a memory range without physical
+# memory being present there), you can try lowering this.
+#
+# On DevKit-J, this can go as high as 20MHz if CPU frequency is 80MHz, or 26MHz
+# if CPU frequency is 160MHz or 240MHz.
+adapter speed 20000
diff --git a/tcl/board/esp32-wrover-kit-3.3v.cfg b/tcl/board/esp32-wrover-kit-3.3v.cfg
new file mode 100644
index 0000000..ce62436
--- /dev/null
+++ b/tcl/board/esp32-wrover-kit-3.3v.cfg
@@ -0,0 +1,22 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32-WROVER-KIT board.
+#
+# For example, OpenOCD can be started for ESP32 debugging on
+#
+#   openocd -f board/esp32-wrover-kit-3.3v.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/ftdi/esp32_devkitj_v1.cfg]
+set ESP32_FLASH_VOLTAGE 3.3
+# Source the ESP32 configuration file
+source [find target/esp32.cfg]
+
+# The speed of the JTAG interface, in kHz. If you get DSR/DIR errors (and they
+# do not relate to OpenOCD trying to read from a memory range without physical
+# memory being present there), you can try lowering this.
+#
+# On DevKit-J, this can go as high as 20MHz if CPU frequency is 80MHz, or 26MHz
+# if CPU frequency is 160MHz or 240MHz.
+adapter speed 20000
diff --git a/tcl/interface/ftdi/esp32_devkitj_v1.cfg b/tcl/interface/ftdi/esp32_devkitj_v1.cfg
new file mode 100644
index 0000000..c34a500
--- /dev/null
+++ b/tcl/interface/ftdi/esp32_devkitj_v1.cfg
@@ -0,0 +1,25 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Driver for the FT2232H JTAG chip on the Espressif DevkitJ board
+# (and most other FT2232H and FT232H based boards)
+#
+
+adapter driver ftdi
+ftdi vid_pid 0x0403 0x6010 0x0403 0x6014
+
+# interface 1 is the uart
+ftdi channel 0
+
+# TCK, TDI, TDO, TMS: ADBUS0-3
+# LEDs: ACBUS4-7
+
+ftdi layout_init 0x0008 0xf00b
+ftdi layout_signal LED -data 0x1000
+ftdi layout_signal LED2 -data 0x2000
+ftdi layout_signal LED3 -data 0x4000
+ftdi layout_signal LED4 -data 0x8000
+
+# ESP32 series chips do not have a TRST input, and the SRST line is connected to the EN pin.
+# The target code doesn't handle SRST reset properly yet, so this is commented out:
+# ftdi_layout_signal nSRST -oe 0x0020
+# reset_config srst_only
diff --git a/tcl/target/esp32.cfg b/tcl/target/esp32.cfg
new file mode 100644
index 0000000..f5ca78a
--- /dev/null
+++ b/tcl/target/esp32.cfg
@@ -0,0 +1,70 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# The ESP32 only supports JTAG.
+transport select jtag
+
+if { [info exists CHIPNAME] } {
+	set _CHIPNAME $CHIPNAME
+} else {
+	set _CHIPNAME esp32
+}
+
+if { [info exists CPUTAPID] } {
+	set _CPUTAPID $CPUTAPID
+} else {
+	set _CPUTAPID 0x120034e5
+}
+
+if { [info exists ESP32_ONLYCPU] } {
+	set _ONLYCPU $ESP32_ONLYCPU
+} else {
+	set _ONLYCPU 2
+}
+
+if { [info exists ESP32_FLASH_VOLTAGE] } {
+	set _FLASH_VOLTAGE $ESP32_FLASH_VOLTAGE
+} else {
+	set _FLASH_VOLTAGE 3.3
+}
+
+set _CPU0NAME cpu0
+set _CPU1NAME cpu1
+set _TARGETNAME_0 $_CHIPNAME.$_CPU0NAME
+set _TARGETNAME_1 $_CHIPNAME.$_CPU1NAME
+
+jtag newtap $_CHIPNAME $_CPU0NAME -irlen 5 -expected-id $_CPUTAPID
+if { $_ONLYCPU != 1 } {
+	jtag newtap $_CHIPNAME $_CPU1NAME -irlen 5 -expected-id $_CPUTAPID
+} else {
+	jtag newtap $_CHIPNAME $_CPU1NAME -irlen 5 -disable -expected-id $_CPUTAPID
+}
+
+# PRO-CPU
+target create $_TARGETNAME_0 $_CHIPNAME -endian little -chain-position $_TARGETNAME_0 -coreid 0
+# APP-CPU
+if { $_ONLYCPU != 1 } {
+	target create $_TARGETNAME_1 $_CHIPNAME -endian little -chain-position $_TARGETNAME_1 -coreid 1
+	target smp $_TARGETNAME_0 $_TARGETNAME_1
+}
+
+$_TARGETNAME_0 esp32 flashbootstrap $_FLASH_VOLTAGE
+$_TARGETNAME_0 xtensa maskisr on
+$_TARGETNAME_0 xtensa smpbreak BreakIn BreakOut
+$_TARGETNAME_0 configure -event reset-assert-post { soft_reset_halt }
+
+$_TARGETNAME_0 configure -event gdb-attach {
+	$_TARGETNAME_0 xtensa smpbreak BreakIn BreakOut
+	# necessary to auto-probe flash bank when GDB is connected
+	halt 1000
+}
+
+if { $_ONLYCPU != 1 } {
+	$_TARGETNAME_1 configure -event gdb-attach {
+		$_TARGETNAME_1 xtensa smpbreak BreakIn BreakOut
+		# necessary to auto-probe flash bank when GDB is connected
+		halt 1000
+	}
+	$_TARGETNAME_1 configure -event reset-assert-post { soft_reset_halt }
+}
+
+gdb_breakpoint_override hard