[openocd] Update installation instructions on Linux

src/emdbg/debug/openocd.md

@@ -31,13 +31,43 @@ export PX4_OPENOCD=/path/to/other/openocd
 
 ## Installation
 
+OpenOCD works with all STLink debug probes.
+
+On macOS you can simply use Homebrew:
+
 ```sh
-# Ubuntu
-sudo apt install openocd
-# macOS
-brew install open-ocd
+brew install openocd
 ```
 
-OpenOCD works with all STLink debug probes.
+Ubuntu 22.04 only ships with OpenOCD v0.11, which is quite old, so you need to
+manually install OpenOCD v0.12:
+
+```sh
+wget "https://github.com/rleh/openocd-build/releases/download/0.12.0%2Bdev-snapshot.20230509.1502/openocd-0.12.0.dev.snapshot.20230509.1502.amd64.deb"
+sudo dpkg -i openocd-0.12.0.dev.snapshot.20230509.1502.amd64.deb
+sudo apt install -f
+```
+
+You also need to update the udev rules:
+
+```sh
+sudo tee /etc/udev/rules.d/70-st-link.rules > /dev/null <<'EOF'
+# ST-LINK V2
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+# ST-LINK V2.1
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3752", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+# ST-LINK V3
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374d", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374e", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374f", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3753", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3754", ENV{ID_MM_DEVICE_IGNORE}="1", MODE="666"
+# ST-LINK Serial
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", MODE="0666", GROUP="dialout"
+EOF
+sudo udevadm control --reload-rules
+sudo udevadm trigger
+```
 
 [openocd]: https://openocd.org