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Some time ago, I have added support to OpenOCD to be able to use Buspirate as JTAG interface.
This how-to will show you, how to setup all the things necessary.

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Now that we can compile stuff for ARM, we need a way to see what our code is doing.
Most (all?) of ARM processors have JTAG. JTAG is used to access the debug port on the CPU, allowing to change state, registers, memory, peripheral registers, etc. OpenOCD knows how to talk to CPU through JTAG.
We are going to show you how to setup OpenOCD with GDB and make them behave together.
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