Hi Simon
this is the first time try to develop sw using ESP32. I followed your tutorial but there is mode to upload and debug my sketch.
hardware connection
ESP32-C3DEVKIT      ESP-prog
TMS  ----------------  TMS
TDI   ----------------  TDI
TDO  ----------------  TDO
TCK  ----------------   TCK
GND ----------------   GND
3V3 -----------------   3V3 (the ESP32 is not powered on his USB)

The verbose output is in attach.
best
Marco

Thanks for the output. Please also switch on the "show build properties" mentioned above. Then the output will show your config. Thanks

Please uncheck "Upload using programmer".

Thanks for the detail.

To use the ESP32-C3 with the JTAG pins for debugging, a few things need to be configured:
Documentation: https://www.visualmicro.com/page/ESP32C3-JTAG-Debugging.aspx

1) Update the board package to v2.0.3 to avoid issues with the GDB.exe packaged into it.
2) Change the fuse bits to allow the JTAG pins to be used either by bootstrapping a pin, or permanently disable the USB-JTAG adapter.
3) Add the local board.txt entries to use the later version of OpenOCD which contains the configuration for the ESP32-C3.

The Upload using programmer option does not function correctly at present and always results in a reboot loop, so this should be set back to "No Programmer (default)", and the standard serial upload should be used, as in the Arduino IDE.

If your board is one of the Dev boards it may be worth reviewing the USB-JTAG adapter built into it, which doesn't require the ESP-PROG (but still has the same limitation on uploads via Serial):
Documentation: https://www.visualmicro.com/page/ESP32C3-USB-Debugging.aspx
Video Guide: https://www.youtube.com/watch?v=A59frxEvs7M

Thanks for the update.

Burning the JTAG_SEL_ENABLE fuse will allow you to select the JTAG pins by pulling GPIO10 LOW during boot (if you have GPIO10 on your board of course).
Burning the DIS_USB_JTAG fuse will permanently disable USB-JTAG.

Neither of these will affect the Serial upload to our knowledge, they just affect whether the USB-JTAG is available (we have burned the DIS_USB_JTAG fuse on our ESP-C3-01M module and that still allows Serial upload to function correctly).

The USB-JTAG approach avoids having to alter any fuse bits, depending on the board you have, and only requires a USB lead and a few connections.

The USB-JTAG is in-built on the ESP-32 Dev boards, and to my knowledge on all ESP32-C3 modules which have GPIO 18 and 19 available.  Using this initially avoids having to burn the fuses, and of course leaves all options open for the future.

This means you do not need the ESP-PROG at all, and just need a USB lead where you can access the VCC/GND/Data+/Data- Lines (whether by rewiring or if you have a breakout which fits on the end).

It is supported in Visual Micro, with the documentation and a walkthrough video of this working below:
Documentation: https://www.visualmicro.com/page/ESP32C3-USB-Debugging.aspx
Video Guide: https://www.youtube.com/watch?v=A59frxEvs7M

Can you confirm if swapping the wires on pins 18 and 19 changes whether it shows up in Zadig?

Have you changed any fuses at this point?  (DIS_USB_JTAG should still be False)

to complete your questions:

Usb Config fuses:
DIS_USB_JTAG (BLOCK0)                              Disables USB JTAG. JTAG access via pads is control = False R/W (0b0)

Hi Simon

openocd.exe" -d2 -c "adapter_khz 5000" -s ts/" -f ts/interface/../board/esp32c3-builtin.cfg" -c "set ESP32_RTOS none" -c "init; reset halt"
Open On-Chip Debugger  v0.10.0-esp32-20210721 (2021-07-21-13:35)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
debug_level: 2

adapter speed: 5000 kHz

Info : only one transport option; autoselect 'jtag'
Warn : Transport "jtag" was already selected
none
Error: libusb_open() failed with LIBUSB_ERROR_NOT_FOUND
Error: esp_usb_jtag: could not find or open device!

The "Error: esp_usb_jtag: could not find or open device!" seems to suggest it cannot see the board.

Just to check:-
Do you have the WinUSB driver installed for Interface 2 of the USB JTAG/serial debug unit?
Is the modified USB lead (connected to GPIO18+19 and VCC+GND) connected to your PC?