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To compile BSPTools / DebugPackages / ESP8266DebugPackage /
open solution: BSPTools / DebugPackages / ESP8266DebugPackage / ESPImageTool / ESPImageTool.sln
Add reference to OpenOCDPackage.dll by installing OpenOCD via Tools->VisualGDB Package Manager. Then simply add a reference to %LOCALAPPDATA%\VisualGDB\EmbeddedDebugPackages\com.sysprogs.arm.openocd\OpenOCDPackage.dll and you should be able to build the ESPImageTool and the related libraries.