First, check that /dev/parport0 is present and that you (as a user) have read/write access to the device. You may need to add your user to the lp group. You can also try to call the openocd as root (just to test it).
If you are missing /dev/parport0, then you need to make sure that you have the parport and ppdev module loaded in your kernel by running this command
user@machine$ lsmod
Module Size Used by
parport_pc 24424 1
ppdev 8200 2
parport 23104 2 parport_pc,ppdev
Your list may be much longer if you are using a Ubuntu kernel from the distribution (many loaded modules).
If the /dev/parport0 (or parport1) is missing, then you would need to load the module by running:
user@machine$ sudo modprobe ppdev
Don’t forget to use the proper Linux style configuration for the parallel port (“Wiggler”) interface configuration section of your OpenOCD config file:
I found that if you use parport_port 0x378 on a Linux system, you get an error. Instead, you must just specify the parallel port number (0 for parport0 and 1 for parport1).
I managed to get my Olimex ARM-JTAG working with the Olimex SAM7-P256 board with those steps.