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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.
The GDB (GNU debugger) RSP (remote serial protocol) allows remote debugging of embedded software. This project offers source code of monitors so the developer only needs to burn flash EPROMs once, then use serial communication to download/debug.