diff --git a/makefiles/tools/openocd-adapters/sysfs_gpio.inc.mk b/makefiles/tools/openocd-adapters/sysfs_gpio.inc.mk
new file mode 100644
index 0000000000..eed5498bcf
--- /dev/null
+++ b/makefiles/tools/openocd-adapters/sysfs_gpio.inc.mk
@@ -0,0 +1,15 @@
+# sysfs GPIO debug adapter
+
+SWCLK_PIN ?= 21
+SWDIO_PIN ?= 20
+SRST_PIN ?= 16
+
+OPENOCD_ADAPTER_INIT ?= \
+  -c 'interface sysfsgpio' \
+  -c 'transport select swd' \
+  -c 'sysfsgpio_swd_nums $(SWCLK_PIN) $(SWDIO_PIN)' \
+  -c 'sysfsgpio_srst_num $(SRST_PIN)' \
+  -c 'adapter_nsrst_delay 100' \
+  -c 'adapter_nsrst_assert_width 100'
+
+export OPENOCD_ADAPTER_INIT