To get support in OpenOCD for Quark/Galileo, you need to patch the OpenOCD source code and build it.
With the source patch, there will be the scripts you need (e.g. quark_x10xx_board.cfg)
We are currently working with the OpenOCD maintainers to get the patch accepted to the public trunk. But until it’s accepted, you can download the patch here: http://openocd.zylin.com/#/c/1829/
There is also an document available for Source Level Debug using OpenOCD/GDB/Eclipse that will help you.