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The Open On-Chip Debugger (OpenOCD) aims to provide debugging, in-system programming and boundary-scan testing for embedded target devices.
JTAG: OpenOCD uses a “hardware interface dongle” to communicate with the JTAG (IEEE 1149.1) complient taps on your target board.
Dongles: OpenOCD currently many types of hardware dongles: USB Based, Parallel Port Based, and other standalone boxes that run OpenOCD internally. See the section titled: See JTAG Hardware Dongles.
GDB Debug: It allows ARM7 (ARM7TDMI and ARM720t), ARM9 (ARM920t, ARM922t, ARM926ej–s, ARM966e–s), XScale (PXA25x, IXP42x) and Cortex-M3 (Luminary Stellaris LM3 and ST STM32) based cores to be debugged via the GDB Protocol.
Flash Programing: Flash writing is supported for external CFI compatible flashes (Intel and AMD/Spansion command set) and several internal flashes (LPC2000, AT91SAM7, STR7x, STR9x, LM3 and STM32x). Preliminary support for using the LPC3180's NAND flash controller is included.