git clone https://github.com/projectcalico/felix.git
Check out the tag matching the release that you are using; for example:
git checkout v3.16.1
Build the tool:
make bin/calico-bpf
You can then copy the tool to the node you want to inspect and use one of its subcommands to dump the map of interest. For example, the following command will dump the conntrack table:
calico-bpf conntrack dump