Had some trouble compiling the openOCD version for the picoprobe on the M1 macbook. This is based on a thread on github and the official guides, plus some blog posts that basically copied from each other.  

https://github.com/raspberrypi/openocd/issues/7 

#install additional brew libraries
brew install libtool automake texinfo wget gcc pkg-config libusb

# some path magic so compilers know where to look for stuff 
export PATH="$(brew --prefix)/opt/texinfo/bin:$PATH"

# download openocd files with picoprobe branch
git clone https://github.com/raspberrypi/openocd.git \
  --branch picoprobe --depth=1

cd openocd
./bootstrap

# this enables the picoprobe and deactivates other modules that fail to compile otherwise
CAPSTONE_CFLAGS="-I$(brew --prefix)/include" \                      
  ./configure --prefix="$(brew --prefix)"  \
  --enable-picoprobe --disable-presto --disable-werror --disable-openjtag

make -j4

# this will probably overwrite your current installation
# and will break openjtag
make install

# optionally remove the installation folder
cd ~/git
rm -rf openocd