Do not use USB 2.0.
$ sudo apt-get install libhidapi-dev
$ sudo apt-get build-dep openocd
$ git clone git://git.code.sf.net/p/openocd/code openocd-code
$ cd openocd
$ ./bootstrap
$ ./configure
$ make
$ sudo make install
$ sudo apt-get install gcc-arm-none-eabi
$ git clone https://github.com/fpiot/chopstx-ats.git
$ cd chopstx-ats/example-fsm-55
$ make
$ sudo make write
OK!