JTAG Enumeration Tool

JTAG enumeration rig
Pavel has released go-jtagenum. This project is a port of JTAGenum and JTAGualtor to the Golang. It is supposed to be used under Linux (or any OS which Go supports) on the device with GPIO lines exported to userspace. Raspberry Pi 1,2,3 is the most famous example.

go-jtagenum repo is here