diff --git a/misc/install/openocd/mem_helper.tcl b/misc/install/openocd/mem_helper.tcl
index 5955793e25..9ea285a22c 100644
--- a/misc/install/openocd/mem_helper.tcl
+++ b/misc/install/openocd/mem_helper.tcl
@@ -34,7 +34,7 @@ add_help_text mrb "Returns value of byte in memory."
 #       $reg <== ((value & ~$clearbits) | $setbits)
 proc mmw {reg setbits clearbits} {
 	set old [mrw $reg]
-	set new [expr ($old & ~$clearbits) | $setbits]
+	set new [expr {($old & ~$clearbits) | $setbits}]
 	mww $reg $new
 }
 
diff --git a/misc/install/openocd/openocd.exe b/misc/install/openocd/openocd.exe
index 14909ab0c0..360247b3a6 100644
Binary files a/misc/install/openocd/openocd.exe and b/misc/install/openocd/openocd.exe differ
diff --git a/misc/install/openocd/stlink.cfg b/misc/install/openocd/stlink.cfg
index 735ad5a4ec..cb8e004945 100644
--- a/misc/install/openocd/stlink.cfg
+++ b/misc/install/openocd/stlink.cfg
@@ -3,10 +3,10 @@
 # debugger/programmer
 #
 
-interface hla
+adapter driver hla
 hla_layout stlink
 hla_device_desc "ST-LINK"
-hla_vid_pid 0x0483 0x3744 0x0483 0x3748 0x0483 0x374b 0x0483 0x374d 0x0483 0x374e 0x0483 0x374f 0x0483 0x3752 0x0483 0x3753
+hla_vid_pid 0x0483 0x3744 0x0483 0x3748 0x0483 0x374b 0x0483 0x374d 0x0483 0x374e 0x0483 0x374f 0x0483 0x3752 0x0483 0x3753 0x0483 0x3754
 
 # Optionally specify the serial number of ST-LINK/V2 usb device.  ST-LINK/V2
 # devices seem to have serial numbers with unreadable characters.  ST-LINK/V2
@@ -14,4 +14,3 @@ hla_vid_pid 0x0483 0x3744 0x0483 0x3748 0x0483 0x374b 0x0483 0x374d 0x0483 0x374
 # number reset issues.
 # eg.
 #hla_serial "\xaa\xbc\x6e\x06\x50\x75\xff\x55\x17\x42\x19\x3f"
-
diff --git a/misc/install/openocd/stm32f4x.cfg b/misc/install/openocd/stm32f4x.cfg
index 3d0efd57b7..0ab6f04118 100644
--- a/misc/install/openocd/stm32f4x.cfg
+++ b/misc/install/openocd/stm32f4x.cfg
@@ -38,6 +38,8 @@ if { [info exists CPUTAPID] } {
 swj_newdap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
 dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu
 
+tpiu create $_CHIPNAME.tpiu -dap $_CHIPNAME.dap -ap-num 0 -baseaddr 0xE0040000
+
 if {[using_jtag]} {
    jtag newtap $_CHIPNAME bs -irlen 5
 }
@@ -52,15 +54,21 @@ flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
 
 flash bank $_CHIPNAME.otp stm32f2x 0x1fff7800 0 0 0 $_TARGETNAME
 
+if { [info exists QUADSPI] && $QUADSPI } {
+   set a [llength [flash list]]
+   set _QSPINAME $_CHIPNAME.qspi
+   flash bank $_QSPINAME stmqspi 0x90000000 0 0 0 $_TARGETNAME 0xA0001000
+}
+
 # JTAG speed should be <= F_CPU/6. F_CPU after reset is 16MHz, so use F_JTAG = 2MHz
 #
 # Since we may be running of an RC oscilator, we crank down the speed a
 # bit more to be on the safe side. Perhaps superstition, but if are
 # running off a crystal, we can run closer to the limit. Note
 # that there can be a pretty wide band where things are more or less stable.
-adapter_khz 2000
+adapter speed 2000
 
-adapter_nsrst_delay 100
+adapter srst delay 100
 if {[using_jtag]} {
  jtag_ntrst_delay 100
 }
@@ -83,13 +91,37 @@ $_TARGETNAME configure -event examine-end {
 	mmw 0xE0042008 0x00001800 0
 }
 
-$_TARGETNAME configure -event trace-config {
-	# Set TRACE_IOEN; TRACE_MODE is set to async; when using sync
-	# change this value accordingly to configure trace pins
-	# assignment
-	mmw 0xE0042004 0x00000020 0
+proc proc_post_enable {_chipname} {
+	targets $_chipname.cpu
+
+	if { [$_chipname.tpiu cget -protocol] eq "sync" } {
+		switch [$_chipname.tpiu cget -port-width] {
+			1 {
+				mmw 0xE0042004 0x00000060 0x000000c0
+				mmw 0x40021020 0x00000000 0x0000ff00
+				mmw 0x40021000 0x000000a0 0x000000f0
+				mmw 0x40021008 0x000000f0 0x00000000
+			  }
+			2 {
+				mmw 0xE0042004 0x000000a0 0x000000c0
+				mmw 0x40021020 0x00000000 0x000fff00
+				mmw 0x40021000 0x000002a0 0x000003f0
+				mmw 0x40021008 0x000003f0 0x00000000
+			  }
+			4 {
+				mmw 0xE0042004 0x000000e0 0x000000c0
+				mmw 0x40021020 0x00000000 0x0fffff00
+				mmw 0x40021000 0x00002aa0 0x00003ff0
+				mmw 0x40021008 0x00003ff0 0x00000000
+			  }
+		}
+	} else {
+		mmw 0xE0042004 0x00000020 0x000000c0
+	}
 }
 
+$_CHIPNAME.tpiu configure -event post-enable "proc_post_enable $_CHIPNAME"
+
 $_TARGETNAME configure -event reset-init {
 	# Configure PLL to boost clock to HSI x 4 (64 MHz)
 	mww 0x40023804 0x08012008   ;# RCC_PLLCFGR 16 Mhz /8 (M) * 128 (N) /4(P)
@@ -100,10 +132,10 @@ $_TARGETNAME configure -event reset-init {
 	mmw 0x40023808 0x00000002 0 ;# RCC_CFGR |= RCC_CFGR_SW_PLL
 
 	# Boost JTAG frequency
-	adapter_khz 8000
+	adapter speed 8000
 }
 
 $_TARGETNAME configure -event reset-start {
 	# Reduce speed since CPU speed will slow down to 16MHz with the reset
-	adapter_khz 2000
+	adapter speed 2000
 }
diff --git a/misc/install/openocd/stm32f7x.cfg b/misc/install/openocd/stm32f7x.cfg
index 277f74951c..a6f18d8301 100644
--- a/misc/install/openocd/stm32f7x.cfg
+++ b/misc/install/openocd/stm32f7x.cfg
@@ -12,7 +12,7 @@ if { [info exists CHIPNAME] } {
    set _CHIPNAME stm32f7x
 }
 
-   set _ENDIAN little
+set _ENDIAN little
 
 # Work-area is a space in RAM used for flash programming
 # By default use 128kB
@@ -64,10 +64,16 @@ flash bank $_CHIPNAME.otp stm32f2x 0x1ff0f000 0 0 0 $_TARGETNAME
 #     the Flash via ITCM alias as virtual
 flash bank $_CHIPNAME.itcm-flash.alias virtual 0x00200000 0 0 0 $_TARGETNAME $_FLASHNAME
 
-# adapter speed should be <= F_CPU/6. F_CPU after reset is 16MHz, so use F_JTAG = 2MHz
-adapter_khz 2000
+if { [info exists QUADSPI] && $QUADSPI } {
+   set a [llength [flash list]]
+   set _QSPINAME $_CHIPNAME.qspi
+   flash bank $_QSPINAME stmqspi 0x90000000 0 0 0 $_TARGETNAME 0xA0001000
+}
 
-adapter_nsrst_delay 100
+# adapter speed should be <= F_CPU/6. F_CPU after reset is 16MHz, so use F_JTAG = 2MHz
+adapter speed 2000
+
+adapter srst delay 100
 if {[using_jtag]} {
  jtag_ntrst_delay 100
 }
@@ -76,7 +82,7 @@ if {[using_jtag]} {
 #
 # This target is compatible with connect_assert_srst, which may be set in a
 # board file.
-reset_config srst_only srst_nogate
+reset_config srst_nogate
 
 if {![using_hla]} {
    # if srst is not fitted use SYSRESETREQ to
@@ -162,12 +168,11 @@ $_TARGETNAME configure -event reset-init {
 	if {[using_jtag]} {
 		[[target current] cget -dap] memaccess 16
 	} {
-		adapter_khz 8000
+		adapter speed 8000
 	}
 }
 
 $_TARGETNAME configure -event reset-start {
 	# Reduce speed since CPU speed will slow down to 16MHz with the reset
-	adapter_khz 2000
+	adapter speed 2000
 }
-
diff --git a/misc/install/openocd/stm32h7x.cfg b/misc/install/openocd/stm32h7x.cfg
index 413ad5f545..e8e7186099 100644
--- a/misc/install/openocd/stm32h7x.cfg
+++ b/misc/install/openocd/stm32h7x.cfg
@@ -12,6 +12,39 @@ if { [info exists CHIPNAME] } {
    set _CHIPNAME stm32h7x
 }
 
+if { [info exists DUAL_BANK] } {
+	set $_CHIPNAME.DUAL_BANK $DUAL_BANK
+	unset DUAL_BANK
+} else {
+	set $_CHIPNAME.DUAL_BANK 0
+}
+
+if { [info exists DUAL_CORE] } {
+	set $_CHIPNAME.DUAL_CORE $DUAL_CORE
+	unset DUAL_CORE
+} else {
+	set $_CHIPNAME.DUAL_CORE 0
+}
+
+# Issue a warning when hla is used, and fallback to single core configuration
+if { [set $_CHIPNAME.DUAL_CORE] && [using_hla] } {
+	echo "Warning : hla does not support multicore debugging"
+	set $_CHIPNAME.DUAL_CORE 0
+}
+
+if { [info exists USE_CTI] } {
+	set $_CHIPNAME.USE_CTI $USE_CTI
+	unset USE_CTI
+} else {
+	set $_CHIPNAME.USE_CTI 0
+}
+
+# Issue a warning when DUAL_CORE=0 and USE_CTI=1, and fallback to USE_CTI=0
+if { ![set $_CHIPNAME.DUAL_CORE] && [set $_CHIPNAME.USE_CTI] } {
+	echo "Warning : could not use CTI with a single core device, CTI is disabled"
+	set $_CHIPNAME.USE_CTI 0
+}
+
 set _ENDIAN little
 
 # Work-area is a space in RAM used for flash programming
@@ -37,21 +70,63 @@ swj_newdap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPU
 dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu
 
 if {[using_jtag]} {
- swj_newdap $_CHIPNAME bs -irlen 5
+   jtag newtap $_CHIPNAME bs -irlen 5
 }
 
-set _TARGETNAME $_CHIPNAME.cpu
-target create $_TARGETNAME cortex_m -endian $_ENDIAN -dap $_CHIPNAME.dap
+if {![using_hla]} {
+	# STM32H7 provides an APB-AP at access port 2, which allows the access to
+	# the debug and trace features on the system APB System Debug Bus (APB-D).
+	target create $_CHIPNAME.ap2 mem_ap -dap $_CHIPNAME.dap -ap-num 2
+	swo  create $_CHIPNAME.swo  -dap $_CHIPNAME.dap -ap-num 2 -baseaddr 0xE00E3000
+	tpiu create $_CHIPNAME.tpiu -dap $_CHIPNAME.dap -ap-num 2 -baseaddr 0xE00F5000
+}
 
-$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+target create $_CHIPNAME.cpu0 cortex_m -endian $_ENDIAN -dap $_CHIPNAME.dap -ap-num 0
 
-set _FLASHNAME $_CHIPNAME.flash
-flash bank $_FLASHNAME stm32h7x 0x08000000 0 0 0 $_TARGETNAME
+$_CHIPNAME.cpu0 configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+flash bank $_CHIPNAME.bank1.cpu0 stm32h7x 0x08000000 0 0 0 $_CHIPNAME.cpu0
+
+if {[set $_CHIPNAME.DUAL_BANK]} {
+	flash bank $_CHIPNAME.bank2.cpu0 stm32h7x 0x08100000 0 0 0 $_CHIPNAME.cpu0
+}
+
+if {[set $_CHIPNAME.DUAL_CORE]} {
+	target create $_CHIPNAME.cpu1 cortex_m -endian $_ENDIAN -dap $_CHIPNAME.dap -ap-num 3
+
+	$_CHIPNAME.cpu1 configure -work-area-phys 0x38000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+	flash bank $_CHIPNAME.bank1.cpu1 stm32h7x 0x08000000 0 0 0 $_CHIPNAME.cpu1
+
+	if {[set $_CHIPNAME.DUAL_BANK]} {
+		flash bank $_CHIPNAME.bank2.cpu1 stm32h7x 0x08100000 0 0 0 $_CHIPNAME.cpu1
+	}
+}
+
+# Make sure that cpu0 is selected
+targets $_CHIPNAME.cpu0
+
+if { [info exists QUADSPI] && $QUADSPI } {
+   set a [llength [flash list]]
+   set _QSPINAME $_CHIPNAME.qspi
+   flash bank $_QSPINAME stmqspi 0x90000000 0 0 0 $_CHIPNAME.cpu0 0x52005000
+} else {
+   if { [info exists OCTOSPI1] && $OCTOSPI1 } {
+      set a [llength [flash list]]
+      set _OCTOSPINAME1 $_CHIPNAME.octospi1
+      flash bank $_OCTOSPINAME1 stmqspi 0x90000000 0 0 0 $_CHIPNAME.cpu0 0x52005000
+   }
+   if { [info exists OCTOSPI2] && $OCTOSPI2 } {
+      set b [llength [flash list]]
+      set _OCTOSPINAME2 $_CHIPNAME.octospi2
+      flash bank $_OCTOSPINAME2 stmqspi 0x70000000 0 0 0 $_CHIPNAME.cpu0 0x5200A000
+   }
+}
 
 # Clock after reset is HSI at 64 MHz, no need of PLL
-adapter_khz 1800
+adapter speed 1800
 
-adapter_nsrst_delay 100
+adapter srst delay 100
 if {[using_jtag]} {
  jtag_ntrst_delay 100
 }
@@ -67,12 +142,16 @@ if {[using_jtag]} {
 # usage does not work with HLA, so is not done by default. That change could be
 # made in a local configuration file if connect_assert_srst mode is needed for
 # a specific application and a non-HLA adapter is in use.
-reset_config srst_only srst_nogate
+reset_config srst_nogate
 
 if {![using_hla]} {
    # if srst is not fitted use SYSRESETREQ to
    # perform a soft reset
-   cortex_m reset_config sysresetreq
+	$_CHIPNAME.cpu0 cortex_m reset_config sysresetreq
+
+	if {[set $_CHIPNAME.DUAL_CORE]} {
+		$_CHIPNAME.cpu1 cortex_m reset_config sysresetreq
+	}
 
    # Set CSW[27], which according to ARM ADI v5 appendix E1.4 maps to AHB signal
    # HPROT[3], which according to AMBA AHB/ASB/APB specification chapter 3.7.3
@@ -83,31 +162,147 @@ if {![using_hla]} {
    $_CHIPNAME.dap apcsw 0x08000000 0x08000000
 }
 
-$_TARGETNAME configure -event examine-end {
+$_CHIPNAME.cpu0 configure -event examine-end {
 	# Enable D3 and D1 DBG clocks
 	# DBGMCU_CR |= D3DBGCKEN | D1DBGCKEN
-	mmw 0x5C001004 0x00600000 0
+	stm32h7x_dbgmcu_mmw 0x004 0x00600000 0
 
 	# Enable debug during low power modes (uses more power)
-	# DBGMCU_CR |= DBG_STANDBY | DBG_STOP | DBG_SLEEP in D3 & D1 Domains
-	mmw 0x5C001004 0x00000187 0
+	# DBGMCU_CR |= DBG_STANDBY | DBG_STOP | DBG_SLEEP D1 Domain
+	stm32h7x_dbgmcu_mmw 0x004 0x00000007 0
+	# DBGMCU_CR |= DBG_STANDBY | DBG_STOP | DBG_SLEEP D2 Domain
+	stm32h7x_dbgmcu_mmw 0x004 0x00000038 0
 
 	# Stop watchdog counters during halt
 	# DBGMCU_APB3FZ1 |= WWDG1
-	mmw 0x5C001034 0x00000040 0
-	# DBGMCU_APB4FZ1 |= WDGLSD1
-	mmw 0x5C001054 0x00040000 0
+	stm32h7x_dbgmcu_mmw 0x034 0x00000040 0
+	# DBGMCU_APB1LFZ1 |= WWDG2
+	stm32h7x_dbgmcu_mmw 0x03C 0x00000800 0
+	# DBGMCU_APB4FZ1 |= WDGLSD1 | WDGLSD2
+	stm32h7x_dbgmcu_mmw 0x054 0x000C0000 0
+
+	# Enable clock for tracing
+	# DBGMCU_CR |= TRACECLKEN
+	stm32h7x_dbgmcu_mmw 0x004 0x00100000 0
+
+	# RM0399 (id 0x450) M7+M4 with SWO Funnel
+	# RM0433 (id 0x450) M7 with SWO Funnel
+	# RM0455 (id 0x480) M7 without SWO Funnel
+	# RM0468 (id 0x483) M7 without SWO Funnel
+	# Enable CM7 and CM4 slave ports in SWO trace Funnel
+	# Works ok also on devices single core and without SWO funnel
+	# Hack, use stm32h7x_dbgmcu_mmw with big offset to control SWTF
+	# SWTF_CTRL |= ENS0 | ENS1
+	stm32h7x_dbgmcu_mmw 0x3000 0x00000003 0
 }
 
-$_TARGETNAME configure -event trace-config {
-	# Set TRACECLKEN; TRACE_MODE is set to async; when using sync
-	# change this value accordingly to configure trace pins
-	# assignment
-	mmw 0x5C001004 0x00100000 0
-}
-
-$_TARGETNAME configure -event reset-init {
+$_CHIPNAME.cpu0 configure -event reset-init {
 	# Clock after reset is HSI at 64 MHz, no need of PLL
-	adapter_khz 4000
+	adapter speed 4000
 }
 
+# get _CHIPNAME from current target
+proc stm32h7x_get_chipname {} {
+	set t [target current]
+	set sep [string last "." $t]
+	if {$sep == -1} {
+		return $t
+	}
+	return [string range $t 0 [expr {$sep - 1}]]
+}
+
+if {[set $_CHIPNAME.DUAL_CORE]} {
+	$_CHIPNAME.cpu1 configure -event examine-end {
+		set _CHIPNAME [stm32h7x_get_chipname]
+		global $_CHIPNAME.USE_CTI
+
+		# Stop watchdog counters during halt
+		# DBGMCU_APB3FZ2 |= WWDG1
+		stm32h7x_dbgmcu_mmw 0x038 0x00000040 0
+		# DBGMCU_APB1LFZ2 |= WWDG2
+		stm32h7x_dbgmcu_mmw 0x040 0x00000800 0
+		# DBGMCU_APB4FZ2 |= WDGLSD1 | WDGLSD2
+		stm32h7x_dbgmcu_mmw 0x058 0x000C0000 0
+
+		if {[set $_CHIPNAME.USE_CTI]} {
+			stm32h7x_cti_start
+		}
+	}
+}
+
+# like mrw, but with target selection
+proc stm32h7x_mrw {used_target reg} {
+	set value ""
+	$used_target mem2array value 32 $reg 1
+	return $value(0)
+}
+
+# like mmw, but with target selection
+proc stm32h7x_mmw {used_target reg setbits clearbits} {
+	set old [stm32h7x_mrw $used_target $reg]
+	set new [expr {($old & ~$clearbits) | $setbits}]
+	$used_target mww $reg $new
+}
+
+# mmw for dbgmcu component registers, it accepts the register offset from dbgmcu base
+# this procedure will use the mem_ap on AP2 whenever possible
+proc stm32h7x_dbgmcu_mmw {reg_offset setbits clearbits} {
+	# use $_CHIPNAME.ap2 if possible, and use the proper dbgmcu base address
+	if {![using_hla]} {
+		set _CHIPNAME [stm32h7x_get_chipname]
+		set used_target $_CHIPNAME.ap2
+		set reg_addr [expr {0xE00E1000 + $reg_offset}]
+	} {
+		set used_target [target current]
+		set reg_addr [expr {0x5C001000 + $reg_offset}]
+	}
+
+	stm32h7x_mmw $used_target $reg_addr $setbits $clearbits
+}
+
+if {[set $_CHIPNAME.USE_CTI]} {
+	# create CTI instances for both cores
+	cti create $_CHIPNAME.cti0 -dap $_CHIPNAME.dap -ap-num 0 -baseaddr 0xE0043000
+	cti create $_CHIPNAME.cti1 -dap $_CHIPNAME.dap -ap-num 3 -baseaddr 0xE0043000
+
+	$_CHIPNAME.cpu0 configure -event halted { stm32h7x_cti_prepare_restart_all }
+	$_CHIPNAME.cpu1 configure -event halted { stm32h7x_cti_prepare_restart_all }
+
+	$_CHIPNAME.cpu0 configure -event debug-halted { stm32h7x_cti_prepare_restart_all }
+	$_CHIPNAME.cpu1 configure -event debug-halted { stm32h7x_cti_prepare_restart_all }
+
+	proc stm32h7x_cti_start {} {
+		set _CHIPNAME [stm32h7x_get_chipname]
+
+		# Configure Cores' CTIs to halt each other
+		# TRIGIN0 (DBGTRIGGER) and TRIGOUT0 (EDBGRQ) at CTM_CHANNEL_0
+		$_CHIPNAME.cti0 write INEN0 0x1
+		$_CHIPNAME.cti0 write OUTEN0 0x1
+		$_CHIPNAME.cti1 write INEN0 0x1
+		$_CHIPNAME.cti1 write OUTEN0 0x1
+
+		# enable CTIs
+		$_CHIPNAME.cti0 enable on
+		$_CHIPNAME.cti1 enable on
+	}
+
+	proc stm32h7x_cti_stop {} {
+		set _CHIPNAME [stm32h7x_get_chipname]
+
+		$_CHIPNAME.cti0 enable off
+		$_CHIPNAME.cti1 enable off
+	}
+
+	proc stm32h7x_cti_prepare_restart_all {} {
+		stm32h7x_cti_prepare_restart cti0
+		stm32h7x_cti_prepare_restart cti1
+	}
+
+	proc stm32h7x_cti_prepare_restart {cti} {
+		set _CHIPNAME [stm32h7x_get_chipname]
+
+		# Acknowlodge EDBGRQ at TRIGOUT0
+		$_CHIPNAME.$cti write INACK 0x01
+		$_CHIPNAME.$cti write INACK 0x00
+	}
+}
diff --git a/misc/install/openocd/swj-dp.tcl b/misc/install/openocd/swj-dp.tcl
index 1d274cb129..3fb0263f1c 100644
--- a/misc/install/openocd/swj-dp.tcl
+++ b/misc/install/openocd/swj-dp.tcl
@@ -24,11 +24,12 @@ if [catch {transport select}] {
 }
 
 proc swj_newdap {chip tag args} {
- if [using_hla] {
-     eval hla newtap $chip $tag $args
- } elseif [using_jtag] {
+ if [using_jtag] {
      eval jtag newtap $chip $tag $args
  } elseif [using_swd] {
      eval swd newdap $chip $tag $args
+ } else {
+     echo "Error: transport '[ transport select ]' not supported by swj_newdap"
+     shutdown
  }
 }