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 libgpiod-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 --prefix=/usr/local --enable-ftdi --enable-sysfsgpio --enable-bcm2835gpio --enable-picoprobe --enable-jlink --enable-ft232r --enable-cmsis-dap --enable-cmsis-dap-v2 --enable-dummy --with-capstone
make -j 4
make install

STMicroelectronics and RPi provide modified versions of OpenOCD for their processors

git clone https://github.com/STMicroelectronics/OpenOCD openocd.stm
...
./configure --prefix=/opt/openocd.stm ...

git clone https://github.com/raspberrypi/openocd openocd.rpi
...
./configure --prefix=/opt/openocd.rpi ...

/opt/openocd.rpi/bin/openocd -f "interface/cmsis-dap.cfg" -f "target/rp2350.cfg" -c "adapter speed 4000"
Open On-Chip Debugger 0.12.0+dev-gebec9504d (2024-10-17-18:47)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Hardware thread awareness created
Info : Hardware thread awareness created
cortex_m reset_config sysresetreq
adapter speed: 4000 kHz
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : Using CMSIS-DAPv2 interface with VID:PID=0x2e8a:0x000c, serial=1C789DE3E289C250
Info : CMSIS-DAP: SWD supported
Info : CMSIS-DAP: Atomic commands supported
Info : CMSIS-DAP: Test domain timer supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Info : CMSIS-DAP: Interface ready
Info : clock speed 4000 kHz
Info : SWD DPIDR 0x4c013477
Info : [rp2350.dap.core0] Cortex-M33 r1p0 processor detected
Info : [rp2350.dap.core0] target has 8 breakpoints, 4 watchpoints
Info : [rp2350.dap.core0] Examination succeed
Info : [rp2350.dap.core1] Cortex-M33 r1p0 processor detected
Info : [rp2350.dap.core1] target has 8 breakpoints, 4 watchpoints
Info : [rp2350.dap.core1] Examination succeed
Info : starting gdb server for rp2350.dap.core0 on 3333
Info : Listening on port 3333 for gdb connections

Release overview is here or download.

Using GDB