How to load binary fiels to i.MX51 with GDB and OpenOCD

Start OpenOCD as follows:

openocd -f <adapter file> -f board/freescale-imx51-babbage.cfg

Start GDB as follows:

arm-none-eabi-gdb --eval-command="target remote localhost:3333"

Then in GDB's command prompt do the following:

mon reset halt
mon reset init

set arm fallback-mode auto
set debug arm

restore <image file> binary <address>
set $pc=<address>

After which you if you continue execution by using standard GDB stepping commands it would be resumed from the <address>