https://navatek.biz/
Navatek Eng. Corp. specialize in functional test systems and troubleshooting tools for processor based boards. JTAG and ROM Emulation systems are avialible
functional testnavatekjtagromemulation
https://makezine.com/article/technology/jtag-programmer/
Here's a really nice Xilinx JTAG CPLD/FPGA Programmer sent in by MAKE reader J. (schematic / image to etch your own included) - Link.
jtagprogrammermake
https://www.pi-shop.ch/black-magic-probe-with-jtag-cable-and-serial-cable-v2-3
Black Magic Probe with JTAG Cable and Serial Cable - V2.3 von Adafruit - Black Magic Probe with JTAG Cable and Serial Cable - V2.3 Bundle: SWD 0.05"...
raspberry piblack magicprobejtagcable