OpenOCD

This is often bundled as part of a build tools suite.

Build Tool Suites which include OpenOCD

• System Workbench for STM32 installer

There is a debian package for OpenOCD, but it is unfortunately out of date.

The other option is to build OpenOCD from source

• git clone http://openocd.zylin.com/openocd
• follow the instructions inside the README file.

Use openocd and gdb

• first shell window, below is an example
  • openocd -f ~/src/ChibiOS/ChibiStudio/tools/openocd/scripts/board/st_nucleo_f4.cfg
• second shell window, open gdb or ddd
  • arm-none-eabi-gdb
    • monitor reset halt
    • target remote localhost:3333
    • file build/ch.elf
    • continue

For more details on how to use gdb, Read the manual. I prefer ddd, which is the graphical interface to gdb.