How to Install OpenOCD on Ubuntu 22.04.5 LTS

$ sudo apt-get install build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev
$ sudo apt-get install libtool libsysfs-dev
$ sudo apt-get install libjim-dev

$ git clone https://git.code.sf.net/p/openocd/code openocd-code

Configure and Build OpenOCD

$ cd openocd-code
$ ./bootstrap
$ ./configure

Install OpenOCD

$ sudo make install

Configuration files

/usr/local/share/openocd/scripts/board/xxx.cfg
/usr/local/share/openocd/scripts/target/xxx_soc.cfg
/usr/local/share/openocd/scripts/interface/ftdi/xxx_sdp.cfg