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A software which enables working with JTAG-aware hardware devices and boards through JTAG adapter http://urjtag.org/
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README.md

urjtag

JTAG Tools is a software package which enables working with JTAG-aware (IEEE 1149.1) hardware devices (parts) and boards through JTAG adapter. This package has open and modular architecture with ability to write miscellaneous extensions (like board testers, flash memory programmers, and so on).