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.

sudo apt install build-essential libhidapi-dev libcapstone-dev

Install into /usr/local

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
sudo make install

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