Here's an interesting jtag tool: http://www.hitex.co.uk/1509.html
This compact and cost-effective debug interface supports all run-control debug facilities like breakpoints, watchpoints, single-step, register and memory view. Together with the HiTOP5 IDE, a Windows based environment, you have everything to compile and debug your application including RTOS support.
The following list summarizes the technical details:
* Available for the following architectures:
ARM7-9, ARM11, netX, Intel XScale, XC166, XC800, CR16C, CP3BT, S12
* Target interface supporting voltages 1.8 - 5.0V and clocks up to 24MHz (depends on target CPU)
* USB full speed interface
* USB powered
* Run-control facilities: run / halt, single step / line step, breakpoints and watchpoints
* Fast program download with up to 200kByte/s (depends on target CPU)
* Fast FLASH programming for internal and external FLASH memory
The Tantino package includes:
* Tantino debugger
* CD with windows based HiTOP5 IDE (compatible with all Hitex tools) and electronic user manual
* Target and USB cable
* HiTOP license for target architecture
* Hitex support
just found the price of the tantino jtag-controlling flasher on their web shop: GBP300 + tax = GBP400, so US$800 or EUR600.
ouch. I think home brew jtag is a better option unless you've got real money funding you.