diff --git a/Makefile b/Makefile
index e99f036..aaabb9a 100644
--- a/Makefile
+++ b/Makefile
@@ -86,7 +86,10 @@ hopper: all
 	hopperv4 -l RAW --base-address 0x80000 --entrypoint 0x80000 --file-offset 0 --aarch64 -e kernel8.img
 
 openocd:
-	$(OPENOCD) -f interface/jlink.cfg -f ./doc/rpi3_jlink.cfg
+	$(OPENOCD) -f interface/jlink.cfg -f ./doc/rpi3_jlink_suse.cfg
+
+openocd_naotako:
+	$(OPENOCD) -f interface/jlink.cfg -f ./doc/rpi3_jlink_naotako.cfg
 
 gdb: kernel8.img
 	make nm | grep _SEGGER_RTT | awk '{print $$1}' | ./make-gdb-connect.sh
diff --git a/doc/rpi3_jlink_naotaco.cfg b/doc/rpi3_jlink_naotaco.cfg
new file mode 100644
index 0000000..39d4d5f
--- /dev/null
+++ b/doc/rpi3_jlink_naotaco.cfg
@@ -0,0 +1,46 @@
+#
+# Docker image naotaco/openocd:armv8 configures JTAG similar to this
+# Extracted via:
+# $ docker run --rm naotaco/openocd:armv8 /bin/sh -c "cat /usr/local/share/openocd/scripts/target/rpi3.cfg"
+#
+transport select jtag
+
+# we need to enable srst even though we don't connect it
+reset_config trst_and_srst
+
+adapter_khz 4000
+jtag_ntrst_delay 500
+
+if { [info exists CHIPNAME] } {
+  set _CHIPNAME $CHIPNAME
+} else {
+  set _CHIPNAME rpi3
+}
+
+#
+# Main DAP
+#
+if { [info exists DAP_TAPID] } {
+   set _DAP_TAPID $DAP_TAPID
+} else {
+   set _DAP_TAPID 0x4ba00477
+}
+
+jtag newtap $_CHIPNAME dap -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_DAP_TAPID -enable
+
+set _TARGETNAME $_CHIPNAME.cpu
+
+set DBGBASE {0x80010000 0x80012000 0x80014000 0x80016000}
+set CTIBASE {0x80018000 0x80019000 0x8001a000 0x8001b000}
+set _cores 4
+
+for { set _core 0 } { $_core < $_cores } { incr _core } {
+
+    target create $_TARGETNAME.$_core aarch64 \
+        -chain-position $_CHIPNAME.dap -coreid $_core \
+        -dbgbase [lindex $DBGBASE $_core] -ctibase [lindex $CTIBASE $_core]
+}
+
+# In contrast with SUSE config, naotaco only configures core0 events
+$_TARGETNAME.0 configure -event reset-assert-post "aarch64 dbginit"
+$_TARGETNAME.0 configure -event gdb-attach { halt }
diff --git a/doc/rpi3_jlink.cfg b/doc/rpi3_jlink_suse.cfg
similarity index 92%
rename from doc/rpi3_jlink.cfg
rename to doc/rpi3_jlink_suse.cfg
index b70d17a..86a73f8 100644
--- a/doc/rpi3_jlink.cfg
+++ b/doc/rpi3_jlink_suse.cfg
@@ -1,3 +1,6 @@
+#
+# https://www.suse.com/c/debugging-raspberry-pi-3-with-jtag/ configures JTAG like this
+#
 transport select jtag
 
 # we need to enable srst even though we don't connect it