JTAG Boundary Scan Software

[slugrustle]

I'd like to use JTAG boundary scan for bringup of new prototype boards at work.  These boards typically have one MCU on them, and I would be mostly testing the functionality of hardware controlled by the MCU.

It would be nice to be able to set pin states, read pin states, and maybe toggle a single pin at a particular frequency.  That would let me test things like static levels on logic circuits, gate drivers, relay coil drivers, etc.  as well as transition effects.  Right now, I basically do that manually by wiring the MCU in reset and soldering in my signal generator at I/O pins of interest.

What software is good for this purpose?  Does anyone else here use JTAG boundary scan in a similar way?

I've done a little looking around:

• OpenOCD is open source.  It has some basic JTAG commands, low-level JTAG commands, and it can run SVF files.  I ordered an Olimex JTAG adapter and plan to play around a bit with OpenOCD.
• Viveris JTAG Boundary Scanner is referenced by other open source projects. It has a GUI. However, it does not appear to have any documentation.
• UrJTAG is old school and open source.  It seems to have a nice interactive commandline and the ability to play SVF files.  I might give it a spin.
• TopJTAG is closed source with $100 license cost, which is not bad compared to others.  It has a GUI and looks nice, but the payment link on the website is broken, and none of the support or contact email addresses work.
• XJTAG was demoed in Dave's video on JTAG boundary scan.  It looks nice. I think the XJAnalyser software and XJLink2 probe might be good for my purposes, but there's no price on the website. I'll bet it's expensive.
• JTAG Live actually lists prices in their store.  I wonder if BuzzPlus ($185) or Clip ($785) would be sufficient for what I'm trying to do.  Their adapter is $450.
• Corelis is another big player.  Their JTAG starter kit looks very nice, but again, no price on the website.  I'm guessing this one is also expensive.
• Flynn Systems makes a program called Circuit Trace that seems like a good fit.  No pricing on the website.
• Intellitech presently offers their closed-source NEBULA JTAG software for free.  It requires a Xilinx USB Platform Cable II ($270) and appears to be highly scriptable with additional abilities to toggle pins and play SVF files. Unfortunately, a company email address is required to download the software, so playing with this at home might be out of the question.

Finally, I suppose it is also possible to go hardcore and control an FTDI FT232HL or similar chip in MPSSE JTAG mode from a computer using FTDI's D2XX drivers.  I've used those drivers before, and they have a nice API.

I asked this in a test equipment forum thread where one response also mentioned Göpel's cascon software, with a hint that it might be pricey.  I'm asking again in the microcontrollers forum figuring people here might have more familiarity with JTAG boundary scan.