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

ST 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 ...

Release overview is here or download.

Using GDB