open-ocd

Debug embedded systems via JTAG/SWD with on-chip debugging support

brewmacoslinux

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On-chip debugging, in-system programming and boundary-scan testing

openocd

Start OpenOCD server for ARM Cortex-M4 device via ST-Link$ openocd -f interface/stlink.cfg -f target/stm32f4x.cfg

Connect to running OpenOCD daemon and flash firmware

$ openocd -c 'interface ftdi; ftdi_vid_pid 0x0403 0x6010' -f target/esp32.cfg -c 'init; program firmware.bin 0x1000; exit'

Debug with GDB by connecting to OpenOCD's GDB server port

$ openocd -f interface/jlink.cfg -f target/nrf52.cfg &
gdb-multiarch firmware.elf -ex 'target remote :3333'