OpenOCD is used to program and debug various devices with GDB.
It supports many interfaces which including GPIOs, professional interfaces and their clones.
Install prerequisites.
apt install build-essential git automake libtool libhidapi-dev libcapstone-dev libusb-1.0-0-dev libjaylink-dev pkg-config
Install into /usr/local
mkdir -p /opt/src cd /opt/src git clone https://git.code.sf.net/p/openocd/code openocd cd openocd ./bootstrap ./configure --enable-ftdi --enable-sysfsgpio --enable-bcm2835gpio --enable-picoprobe --enable-jlink --enable-ft232r --enable-cmsis-dap --enable-cmsis-dap-v2 --with-capstone make -j 4 make install
NB ST provide a modified version for their processors
git clone https://github.com/STMicroelectronics/OpenOCD openocd.stm32