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toolchain: GNU Tools for ARM Embedded Processors
* https://launchpad.net/gcc-arm-embedded

jtag and flash: openocd 0.8:
* http://openocd.sourceforge.net/
$ openocd -f board/st_nucleo_f401re.cfg

$ make flash

$ arm-none-eabi-gdb -x gdb_cmds
(gdb) monitor reset halt
(gdb) continue

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