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The "Open On-Chip Debugger" provides JTAG/SWD access from GDB (or directly with TCL scripts) to processors with ARM and MIPS based cores.
See website for full list of supported targets.
JTAGER is a simple embedded system debugger running under linux host, which can make us execute some simple debug operations to our target board by the JTAG emulators, such as programming the flash memory. We also have full project documentations.