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The popular Olimex ARM OpenOCD JTAG programmer debugger ARM-USB-OCD-H gets better, now has a modification which works with targets from 0.65 up to 5.5V | olimex
ARM-USB-OCD(-H) User Manual Datasheet by Olimex LTD | Digi-Key Electronics
Using OpenOCD to flash ARM Cortex M3
GoJimmyPi: ESP8266 JTAG Debugging in Visual Studio with Olimex ARM-USB-OCD-H and Sysprogs VisualGDB