Mac OS OpenOCD is improperly packaged, missing libraries, AT32 support

[alteman]

When trying to flash at421 based ESC:
Error: flash driver 'at32f421xx' not found

After removing Homebrew installed openocd:
dyld[34961]: Library not loaded: /opt/homebrew/opt/libftdi/lib/libftdi1.2.dylib
Referenced from: tools/macos/openocd/bin/openocd

OpenOCD needs to be statically linked or come with libraries bundled using relative paths (install_name_tool -add_rpath "@executable_path/../lib/"). We also need the AT32 fork to support ArteryTek ESCs

[alteman]

Just for reference - Manual unlock procedure I used successfully :

export HOMEBREW_NO_INSTALL_FROM_API=1                                                                                                                                                                               
brew tap --force homebrew/core
brew edit openocd

Change head URL to ArteryTek fork:
28 url "https://github.com/ArteryTek/openocd.git", branch: "master"
Install openocd from head

brew install --HEAD openocd

Used a simple bash script to retry until success

#!/bin/bash

bootloader=AM32_F421_BOOTLOADER_PA2_V13.bin

until openocd -c "set BOOTLOADER \"$bootloader\"" \
  --file interface/stlink.cfg \
  --file ./MCU/F421/openocd-unlock.cfg ;
do
    echo Will retry in 5..
    sleep 5
done

[alteman]

I managed to build ArteryTek fork of openocd with Macports as a universal binary (x64+aarch64) with Github Actions.

Here's the workflow: https://github.com/alteman/gh_actions/blob/main/.github/workflows/build-arterytek-openocd.yml
It uses a modified Portfile to replace absolute library path to libusb with @executable_path relative one.

Here's the build results:
https://github.com/alteman/gh_actions/actions/runs/13422520848/artifacts/2619615399