probe-rs
A debugging and flashing toolkit written in Rust that talks to most probes without needing OpenOCD in the middle.
It grew out of the Rust embedded community around 2019, with the goal of replacing the OpenOCD-plus-GDB-plus-config-scripts chain with something that just works. It is both a library and a set of commands: cargo flash writes firmware, cargo embed flashes and opens the RTT log, and a built-in Debug Adapter Protocol server lets VS Code step straight through the target.
Supported probes include CMSIS-DAP, ST-Link, J-Link and the ESP32's built-in USB-JTAG, and chip descriptions are generated from vendors' CMSIS packs rather than hand-written Tcl. Nothing ties it to Rust firmware — it will happily flash an ELF built by GCC — but the Rust ecosystem is where it became the default.