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How do I disable control access port protection on nRF52 using openOCD?

I am using openOCD as the debugger for my nRF52 device. Nothing is working anymore. I am seeing errors like:

$ Error: Could not find MEM-AP to control the core
$ Error: Target not examined yet

whenever I try to do a command. I think the chip is locked/protected. I might have accidentally/purposefully enabled control access port protection, but now I want to unlock the chip so I can actually use it again.

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