Download of openocd-0.10.0-rc2.tar.bz2.sig (openocd-0.10.0-rc2.tar.bz2.sig ( external link: SF.net): 95 bytes) will begin shortly. If not so, click link on the left.
The "Open On-Chip Debugger" provides JTAG/SWD access from GDB (or directly with TCL scripts) to processors with ARM and MIPS based cores.
See website for full list of supported targets.