Como corrigir ESP32S3 JTAG: Error: esp_usb_jtag: could not find or open device!

Problema

Ao tentar usar JTAG no ESP32S3 com o JTAG USB interno usando um comando como

idf_openocd.sh

idf.py openocd

idf.py openocd

você vê um erro como este:

openocd_output.txt

Executing action: openocd
Note: OpenOCD cfg not found (via env variable OPENOCD_COMMANDS nor as a --openocd-commands argument)
OpenOCD arguments default to: "-f board/esp32s3-builtin.cfg"
OpenOCD started as a background task 3169083
Executing action: post_debug
Open On-Chip Debugger v0.12.0-esp32-20250422 (2025-04-22-13:02)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Info : only one transport option; autoselecting 'jtag'
Info : esp_usb_jtag: VID set to 0x303a and PID to 0x1001
Info : esp_usb_jtag: capabilities descriptor set to 0x2000
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Error: esp_usb_jtag: could not find or open device!
/home/uli/.espressif/tools/openocd-esp32/v0.12.0-esp32-20250422/openocd-esp32/share/openocd/scripts/target/esp_common.cfg:9: Error:
Traceback (most recent call last):
  File "/home/uli/.espressif/tools/openocd-esp32/v0.12.0-esp32-20250422/openocd-esp32/share/openocd/scripts/target/esp_common.cfg", line 9, in script
"openocd" exited with 1

Executing action: openocd
Note: OpenOCD cfg not found (via env variable OPENOCD_COMMANDS nor as a --openocd-commands argument)
OpenOCD arguments default to: "-f board/esp32s3-builtin.cfg"
OpenOCD started as a background task 3169083
Executing action: post_debug
Open On-Chip Debugger v0.12.0-esp32-20250422 (2025-04-22-13:02)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Info : only one transport option; autoselecting 'jtag'
Info : esp_usb_jtag: VID set to 0x303a and PID to 0x1001
Info : esp_usb_jtag: capabilities descriptor set to 0x2000
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Error: esp_usb_jtag: could not find or open device!
/home/uli/.espressif/tools/openocd-esp32/v0.12.0-esp32-20250422/openocd-esp32/share/openocd/scripts/target/esp_common.cfg:9: Error:
Traceback (most recent call last):
  File "/home/uli/.espressif/tools/openocd-esp32/v0.12.0-esp32-20250422/openocd-esp32/share/openocd/scripts/target/esp_common.cfg", line 9, in script
"openocd" exited with 1

Quando você lista os dispositivos USB com lsusb, você vê o dispositivo ESP32S3 como 303a:0009:

lsusb_output.txt

Bus 001 Device 099: ID 303a:0009 Espressif ESP32-S3

Bus 001 Device 099: ID 303a:0009 Espressif ESP32-S3

Solução

O problema aqui é que o OpenOCD está procurando por 303a:1001 (veja VID set to 0x303a and PID to 0x1001, código-fonte no GitHub) mas o dispositivo é na verdade 303a:0009.

O motivo para isso é que o ESP32S3 não está no modo bootloader..

Você precisa colocar o ESP32S3 no modo bootloader segurando o botão BOOT enquanto pressiona o botão EN. Isso reiniciará o dispositivo e o colocará no modo bootloader.