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To build OpenOCD you can use this script found in the https://github.com/renesas-rz/rzg_openocd repository.

$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/build_openocd.sh
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0001-tcl-target-renesas_rz_g2-Rename-to-renesas_rz-and-ad.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0002-target-aarch64-MRS-MSR-support-for-system-register-a.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0003-target-aarch64-enable-disable-mmu-new-commands.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0004-target-aarch64-Add-code-to-invaldate-the-instruction.patch
$ wget https://raw.githubusercontent.com/renesas-rz/rzg_openocd/master/0005-tcl-target-renesas_rz-add-hwthread-and-coreid.patch
$ chmod +x ./build_openocd.sh
$ export GIT_SSL_NO_VERIFY=1    # Avoid GIT error: server certificate verification failed
$ ./build_openocd.sh

Or manually follow the steps in that script:

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Open On-Chip Debugger 0.12.0+dev-01565-g5622ada82 (2024-04-10-13:59)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
G2L
	G2L - 0 CA57(s), 2 CA55(s), 0 CA53(s), 0 CR7(s),  1 CM33(s)
	Boot Core - CA55

r9a07g044l.cpu
SMP targets: r9a07g044l.a55.0 r9a07g044l.a55.1
init_reset
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : J-Link Lite V10 compiled Jan 30 2023 11:28:07
Info : Hardware version: 10.10
Info : VTarget = 1.761 V
Info : clock speed 4000 kHz
Info : JTAG tap: r9a07g044l.cpu tap/device found: 0x6ba00477 (mfg: 0x23b (ARM Ltd), part: 0xba00, ver: 0x6)
Info : r9a07g044l.a55.0: hardware has 6 breakpoints, 4 watchpoints
Info : r9a07g044l.a55.0 cluster 0 core 0 multi core
Info : [r9a07g044l.a55.0] Examination succeed
Info : [r9a07g044l.axi_ap] Examination succeed
Info : starting gdb server for r9a07g044l.a55.0 on 3333
Info : Listening on port 3333 for gdb connections
Info : starting gdb server for r9a07g044l.m33 on 3334
Info : Listening on port 3334 for gdb connections
Info : gdb port disabled

Open On-Chip Debugger 0.11.0+dev-00663-gd1e14abdb-dirty (2022-05-10-07:54) 
Licensed under GNU GPL v2 
For bug reports, read 
        http://openocd.org/doc/doxygen/bugs.html 
r9A07g043u.cpu

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 Info : 
Listening on port 6666 for tcl connections

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Info : Listening on port 4444 for telnet connections

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Info : J-Link Lite V9 compiled Feb 2 2021 16:32:48

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Info : Hardware version: 9.00

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Info : VTarget = 1.819 V

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Info : clock speed 4000 kHz

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Info : JTAG tap: r9A07g043u.cpu tap/device found: 0x1000563d (mfg: 0x31e (Andes Technology Corporation), part: 0x0005, ver: 0x1)

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Info : datacount=4 progbufsize=8

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 Info : Examined RISC-V core; found 1 harts

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Info : hart 0: XLEN=64, misa=0x800000000094312d

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Info : starting gdb server for r9A07g043u.cpu on 3333

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Info : Listening on port 3333 for gdb connections

Note that the "DAP transaction stalled" messages are normal and do not affect the functionality.

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