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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.
IMAVR is Atmel AVR 8-bit RISC chip emulator for UNIX. You can run your code before programming to chip. Embedded simple debugger and disassembler. Emulate wide range of AVR chip, wide range of their modules: EEPROM,USART, timers and so on.