for RPi2 JTAG debugging with Olimex ARM-USB-OCD-H System constitution probe device: Olimex ARM-USB-OCD-H target device: Raspberry Pi 2 files for booting: bootcode.bin, start.elf, config.txt from here jtag target image armjtag.bin: from here config.txt: edit to add a line kernel=armjtag.bin host machine: Ubuntu 15.04 openocd-0.9.0 as debugger host: probe device driver: libftd2xx1.1.12