Look deeply into the output message I can see the following error:

OpenOCD log looks like below when flash is accessed (e.g. upon GDB connect).

Error: esp_usb_jtag: usb sent only 0 out of 31 bytes.
Error: missing data from bitq interface
Error: esp_usb_jtag: usb sent only 0 out of 50 bytes.
Error: missing data from bitq interface
Error: Failed to exec JTAG queue!
Error: Failed to read debug stubs address location (-104)!

From https://github-wiki-see.page/m/espressif/openocd-esp32/wiki/Troubleshooting-FAQ it states that it is a known issue. The first solution is to use an external JTAG which defeats the purpose of USB JTAG. A second solution is to run OpenOCD with disabled flash support with option -c 'set ESP_FLASH_SIZE 0'.

So, in Local Board.txt I have modified the last syntax as :

vs-cmd.Debug.AttachtoProcess.tools.openocd.initCmd=-c "init; reset halt set ESP_FLASH_SIZE 0".

The problem is not solved, unfortunately. But I wish to make sure my command in the Local Board.txt is correct. 

Any hint?

Simon@Visual Micro wrote on Aug 4^th, 2023 at 10:18am:


It turns out I need to use both your tactics to get ESP32S3 USB debug works. Please find below my complete board.txt script :

tools.esps3usb.vmserver.args={params.verbose} -l "{{build.path}/{build.project_name}_DebugOpenOCD.log}" -s "{path}/share/openocd/scripts/" -c "set ESP_FLASH_SIZE 0" -f "{path}/share/openocd/scripts/interface/{build.openocddebugger}" -c "set ESP32_RTOS none" {initCmd}
debug.toolingsystem=gdbscript
tools.openocd.debug.path={runtime.tools.openocd-esp32-0.10.1-2021.11.11.path}
vs-cmd.Debug.AttachtoProcess.tools.openocd.initCmd=-c "init; reset halt" 

There is some little experience to share:
1) Although it is possible to use the same builtin USB port as the Serial CDC port for program download and JTAG debug port at the same time with only USB D+/D- lines, the result was not stable for me. VS freezed twice with the most basic arduino hello world program. 
2) As a result, I still need GPIO0 + EN pin with an auto-download circuit and a CP2102 USB-UART bridge for program download before USB JTAG online debug can proceed. This is a bit disappointed to me because most other chips like STM32 need just SWD of 2 wires for both program download and online debug. Why can't ESP32 do the same? This is not a Vmicro issue of course.

On top, before ESP32S3's USB port can be recognized by a PC, I needed to download any program with GPIO0 + EN pin for my fresh ex-factory ESP32 module anyway. That means the CP2102 is not saved.

I am interested to know if there is any performance difference between built-in USB JTAG and an external JTAG (ESP PROG with FTDI chip). I have ordered an ESP PROG to do a test. Still waiting for the courier to arrive. If there is any suggestion on benchmark tool, please let me know.

I would like to provide an update to my project. Have got a new ESP PROG JTAG just now with my findings as follow:

1) New ESP PROG JTAG will return two USB Serial Ports (COM12 & COM13) before Zadig to replace one of the serial ports (Interface 0) by WinUSB (Installing Dual RS232-HS WinUSB Driver.jpg).

2) board.txt is exactly the same as that mentioned in Vmicro web site as follows:

debug.toolingsystem=gdbscript
# Very Latest OpenOCD needed for ESP32S3
tools.openocd.debug.path={runtime.tools.openocd-esp32-0.10.1-2021.11.11.path}
tools.openocd.program.path={runtime.tools.openocd-esp32-0.10.1-2021.11.11.path}
tools.openocd.upload.path={runtime.tools.openocd-esp32-0.10.1-2021.11.11.path} 

3) Need to set at least one breakpoint at any line in source code, otherwise, VS Studio will freeze on pressing with stop or pause icon.

Results:
Debugging procedure was smooth. It is difficult to compare a FTDI JTAG vs bultin-USB debug as there is no benchmark tool.
My impression is that JTAG is a bit faster. However, an external USB-UART bridge (CP2102) with auto-download tool is necessary for FTDI JTAG even though there is a second serial port on it. I can't use it for program download somehow. 

On the other hand, when bultin-USB is used it is possible to use the same USB port for program download. A bonus with bultin USB as the debug port is: only 2 pins are required whereas FTDI JTAG needs 4 pins.

This message concludes my findings comparing FTDI JTAG vs Builtin USB of ESP32S3 as debugging hw.

Thank you.

Simon@Visual Micro wrote on Aug 9^th, 2023 at 1:04pm:


Yes, that works as well. Because there is a CH34x-based USB port with auto download circuit on my ESP32 EVK so the fast lane is to use that port right away.

Thank you.