Documentation
The OpenOCD User's Guide is maintained along with the sources in the official git repository (openocd.texi). During the normal build and install process the Texinfo document is processed and installed in the common location to be viewed locally with an Info browser of your choice. The README files are usually copied to /usr/share/doc/openocd-<version>/ directory by a distro package manager.
In case you do not have OpenOCD installed, you can also view the generated documentation from our web-server but pay attention to use a matching version.
Thesis
The Open On-Chip Debugger was created as part of a Diploma Thesis written at the University of Applied Sciences Augsburg (FH Augsburg). The full thesis can be found here.