Answering my own question here:

The binary produced by does not have correct format. Build the target "gen_project_binary" internally defined by the IDF. This creates another .bin file that has the right format and can be flashed as described in the doc.

Small update: The error persists even after upgrading to openocd v0.12.0-esp32-20240821

Hi, I am trying to use the JTAG port of my ESP32-C6-DevKitC-1 V1.2 for flashing. I can connect to it just fine using: openocd -f board/esp32c6-builtin.cfg But things go wrong when I do. openocd -f board/esp32c6-builtin.cfg -c "program_esp my_app.bin 0x10000 verify exit" The output is: Open On-Chip D...

I am trying to do the same thing here Have you found a way yet?