1 files changed, 7 insertions, 0 deletions
diff --git a/AGENTS.md b/AGENTS.md
index d491f94f1..eb6b737c3 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -151,6 +151,13 @@ openocd -f interface/stlink.cfg -f target/stm32h7x.cfg
 openocd -f interface/jlink.cfg -f target/stm32h7x.cfg
 ```
 
+For **rp2040/rp2350** with a CMSIS-DAP probe (e.g. Picoprobe, debugprobe):
+```bash
+openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "adapter speed 5000"
+# or for rp2350:
+openocd -f interface/cmsis-dap.cfg -f target/rp2350.cfg -c "adapter speed 5000"
+```
+
 For boards that define `OPENOCD_OPTION` in `board.cmake`, use those options directly:
 ```bash
 openocd $(cat hw/bsp/FAMILY/boards/BOARD/board.cmake | grep OPENOCD_OPTION | ...)