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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.
PATAN is an user level application debugger for Linux. It uses JIM (a small footprint Tcl interpreter) and libdbg (a debugging library I'm working on). It is in a very early stage and the code is poor (probably I'll rewrite it).
Lizard is a debugger that lets you step forwards as well as backwards through the execution of your program. Lizard is a replay debugger: the program is run to completion under a tracer first, and then the replay stage begins.
The TclPro tool set includes a graphical debugger, a static code checker,
a wrapper to generate stand-alone executables, a "compiler" that
writes out Tcl byte codes, and a loader that reads byte codes.