In JTAG Debugging the ESP32 with FT2232 and OpenOCD I have used a FTDI FT2232 breakout board to JTAG debug with OpenOCD. With an adapter board on top of the TDI FT2232 the wiring is much easier and simpler to use:
JTAG Debugging the ESP32 with FT2232
FT2232 JTAG UART PCB
The wiring includes a JTAG header with pull-up and pull-down plus an UART header:
FT2232 JTAG UART Board
The board hooks on the FTDI breakout board and makes a debug and UART connection to the target board:
JTAG Debugging the ESP32 with FT2232
The KiCAD project and files are available on the GitHub site noted in the Links section.
Happy Debugging 🙂
MCU on Eclipse 
Pingback: Open Source FTDI FT2232 JTAG and UART Adapter #FTDI #USB @McuOnEclipse « Adafruit Industries – Makers, hackers, artists, designers and engineers!
I’ve been working on a similar thing but designed from scratch so it is all integrated in one small board. See https://github.com/diegoherranz/steppenprobe in case it is useful.
I haven’t tested it yet though 🙂
LikeLike
That one looks really good. Let us know if it works 🙂
LikeLike