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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.
PDa is a port of Pure Data (Pd) to integer-only CPUs like the ARM and MIPS. These chips are used in embedded systems from PDAs to mobile phones to wifi routers. This port of Pd allows you to take Pd anywhere on a handheld or embedded device.