Struggle debugging an esp32p4 with a JLink

[drewpt]

I have an esp32p4 development board. I am using esp-idf v5.5.1.

I start openocd like this and things look normal.

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openocd -f interface/jlink.cfg -f target/esp32p4.cfg  -c "init; reset halt"

Starting gdb like

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idf.py gdb

I get:

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Info : accepting 'gdb' connection on tcp/3333
Info : [esp32p4.hp.cpu0] Target halted, PC=0x4FC00B10, debug_reason=00000000
Info : [esp32p4.hp.cpu1] Target halted, PC=0x4FC0283E, debug_reason=00000000
Warn : No symbols for FreeRTOS!
Info : [esp32p4.hp.cpu0] Found 3 triggers
Info : Flash mapping 0: 0x10020 -> 0x40060020, 151 KB
Info : Flash mapping 1: 0x40020 -> 0x40000020, 370 KB
Info : Auto-detected flash bank 'esp32p4.hp.cpu0.flash' size 16384 KB
Info : Using flash bank 'esp32p4.hp.cpu0.flash' size 16384 KB
Info : Flash mapping 0: 0x10020 -> 0x40060020, 151 KB
Info : Flash mapping 1: 0x40020 -> 0x40000020, 370 KB
Info : Using flash bank 'esp32p4.hp.cpu0.irom' size 372 KB
Info : Flash mapping 0: 0x10020 -> 0x40060020, 151 KB
Info : Flash mapping 1: 0x40020 -> 0x40000020, 370 KB
Info : Using flash bank 'esp32p4.hp.cpu0.drom' size 152 KB
Info : New GDB Connection: 1, Target esp32p4.hp.cpu0, state: halted
Info : [esp32p4.hp.cpu0] Disabling abstract command reads from FPRs.
Error: GDB missing ack(2) - assumed good
Info : dropped 'gdb' connection

On gdb I see

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Remote replied unexpectedly to 'vMustReplyEmpty': vCont;c;C;s;S

I have IRAM/DRAM split protection turned off.

Any ideas here?