I've been working on a tool called "C-Mem" to allow inspection of memory on an ARM target via a debug pod.
There are commercial tools available, but I find them to be lacking. There is more functionality in ARM's "CoreSight DAP" specification than what is supported in these tools.
However, progress is painfully slow at times. At the moment, I'm fighting certain CMSIS-DAP adapters like Atmel's EDBG which doesn't appear to play nice with HIDAPI.
Here is a screenshot of the tool under development:
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