openosc and ESP32-C3 not working

[ESPWilly]

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1. Hi, I don't get working openocd together with my ESP32-C3 board. I'm working with the elektor book "RISCV-V Assembly Language Programming" from Warren Gay and run Windows 10. The book mentions that openocd should work at minimum board rev. 3. That is given for my board (see snip from flashing attached below). Flashing and monitoring works fine, different projects, blink, hello world, arithmetic. The pins D+ and D- are mentioned. I'm not sure how to check, if these correctly wired to the USB connector on the board as required. I tried two different cables and connectors at front and back of my PC.
2. I collected the needed *.cfg from github ESP32 (beginning with esp32c3-builtin.cfg) and stored three files in folders board,interface and target. I didn't edit these files, because I don't know the meaning yet and trust that these are valid.
3. Please find two output snippets from flashing and trying connection with openocd. I investigated a lot, but now I don't know what to investigate next. Please help  :?
4.  
5. Flashing works fine, see excerpt from output
6. snip begin --->
7. esptool.py v3.3.2
8. Serial port COM18
9. Connecting....
10. Chip is ESP32-C3 (revision 3)
11. Features: Wi-Fi
12. Crystal is 40MHz
13. MAC: f4:12:fa:18:83:f4
14. ...
15. ESP-ROM:esp32c3-api1-20210207
16. Build:Feb  7 2021
17. snip end --->
18.  
19. Excerpt from openocd try to connect
20. snip begin --->
21. Info : only one transport option; autoselect 'jtag'
22. Info : esp_usb_jtag: VID set to 0x303a and PID to 0x1001
23. Info : esp_usb_jtag: capabilities descriptor set to 0x2000
24. Warn : Transport "jtag" was already selected
25. Info : Listening on port 6666 for tcl connections
26. Info : Listening on port 4444 for telnet connections
27. Error: esp_usb_jtag: could not find or open device!
28.  
29. Error: Unsupported xlen: -1
30. Error: Unknown target arch!
31. snip end --->
32.  

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