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Terminal
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The Olimex ARM-USB-OCD JTAG supports serial over usb. 
To use it, first install a usb-serial driver.
Then connect to the virtual com port with the 
following settings:

    38400, 8, N, 1

Minicom
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Download

    curl -k -O https://alioth.debian.org/frs/download.php/3195/minicom-2.4.tar.gz