The following list of tools can be utilized during debugging or reverse engineering a device firmware. Some of these tools are already available as toolkits with Kali Linux:

• binwalk: It is a reverse engineering tool that can perform analysis and extraction of any image or binary files. It is scriptable and can add modules.
• firmware-mod-kit: This is a collection of toolkits that includes multiple scripts and utilities that can be handy during an assessment to extract and rebuild Linux-based firmware images. Testers can also reconstruct or deconstruct a firmware image.
• ERESI framework: It is a software interface with multi-architecture binary analysis framework to perform reverse engineering and manipulation of programs.
• cnu-fpu: Cisco IP phones firmware pack/unpacker. This can be found at: https://github.com/kbdfck/cnu-fpu.
• ardrone-tool: This tool handles all the parrot format files and also allows users to flash through USB and load new firmware. It is available at: https://github.com/scorp2kk/ardrone-tool.