By referencing various posts in the forums about connecting via JTAG to the VF and VF2 I’ve been able to successfully connect to the VF2 with OpenOCD. Wanted to share my configuration:
The e24 target is commented out due to being unable to connect. Given I don’t know what that core is used for, I don’t need it.
reset_config trst_only
transport select jtag
adapter speed 4000
jtag newtap e24 cpu -irlen 5 -expected-id 0x07110cfd
jtag newtap u74 cpu -irlen 5 -expected-id 0x07110cfd
#target create e24.cpu0 riscv -chain-position e24.cpu -coreid 0
target create u74.cpu0 riscv -chain-position u74.cpu -coreid 0 -rtos hwthread
target create u74.cpu1 riscv -chain-position u74.cpu -coreid 1
target create u74.cpu2 riscv -chain-position u74.cpu -coreid 2
target create u74.cpu3 riscv -chain-position u74.cpu -coreid 3
target create u74.cpu4 riscv -chain-position u74.cpu -coreid 4
target smp u74.cpu0 u74.cpu1 u74.cpu2 u74.cpu3 u74.cpu4
init
See the image below for where the JTAG pins are on the GPIO.