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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.
FreeSP is an infrastructure for programming platform-independend online signal processing applications. Ports to specific platforms (like DSPs and microcontrollers) are made by simply exchanging the freeSP System-module.