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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.
AsmDis - disassembler for x86 Linux ELF executables. AsmDis is a interactive disassembler that allows code and data to be identified. Optionally the output can be used by AsmSrc to generate source files.