OpenOCD (Open On-Chip Debugger) is open-source software that interfaces with a hardware debugger's JTAG port. OpenOCD provides debugging and in-system programming for embedded target devices. OpenOCD provides the ability to flash NAND and NOR FLASH memory devices that are attached to the processor on the target system.

• Getting started with OpenOCD Development

• Testing and debugging OpenOCD code

• Debug Zephyr app on Nitrogen board with OpenOCD

• Running GDB testsuite with OpenOCD GDB stub

• How to use openOCD semi-hosting support

• Raspberry Pi Linux kernel debugging with OpenOCD

• OpenOCD for AArch64