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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.
This project is a plugin for IDA Pro disassembler to support ARM code debugging via JTAG or software emulators. JLink JTAG interface or any other RDI-compliant hw/sw emulator (such as ARMulator) can be used with it