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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.
NB: Development has been moved to Github:
https://github.com/avrdudes/avarice
AVaRICE is a program for interfacing the Atmel JTAG ICE to GDB to allow users to debug their embedded AVR target.
Free MSP430 Debugger is developed in two steps : a library to provide access to the debugger hardware, and a "gdbproxy" to allow users to debug their software. This project is currently working with OLIMEX MSP430 JTAG ISO & msp430-gdbproxy.
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Serial line sniffer (slsnif).
slsnif is a serial port logging utility. It listens to the specified serial port and logs all data going through this port in both directions.
JTAG base library, ARM7TDMI and MIPS debugger stubs for GDB.
Extendable architecture to add JTAG device drivers, debuggers, and custom JTAG applications.
Ssnooper is a program to created to aid in the debugging of serial line (RS232) connections. With ssnooper, a computer with two free serial ports can be connected between two serial devices to intercept and log all communications.
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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.