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Now You can use OpenOCD. Handbook is at: http://openocd.berlios.de/doc/html/

To allow an ordinary user to acces the hotplug USB interface add him
to the operator group and add these lines to the following files:

/etc/devfs.rules:
[localrules=10]
	add path 'ugen*' mode 0660 group operator

/etc/rc.conf:
devfs_system_ruleset="localrules"

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