Raspberry Pi gpio build
pi@raspberrypi ~ $ git clone git://git.code.sf.net/p/urjtag/git urjtag

pi@raspberrypi ~ $ cd urjtag/urjtag/

# bison and flex needed for SVF support
pi@raspberrypi ~/urjtag/urjtag $ sudo apt-get install autopoint bison flex python2.7-dev

pi@raspberrypi ~/urjtag/urjtag $ ./autogen.sh 

pi@raspberrypi ~/urjtag/urjtag $ ./configure

pi@raspberrypi ~/urjtag/urjtag $ make

pi@raspberrypi ~/urjtag/urjtag $ sudo make install
pi@raspberrypi ~/urjtag/urjtag $ sudo ldconfig

# test does it work?

pi@raspberrypi ~/urjtag/urjtag $ sudo jtag

jtag> cable gpio tms=18 tdi=23 tdo=24 tck=25
Initializing GPIO JTAG Chain
jtag> detect
IR length: 10
Chain length: 1
Device Id: 00010111000001100100000011011101 (0x170640DD)
  Manufacturer: Altera (0x0DD)
  Part(0):      EPM3064A (0x7064)
  Stepping:     1
  Filename:     /usr/local/share/urjtag/altera/epm3064a/epm3064a

forks
• https://github.com/shuckc/urjtag  Altera FPGAs (from .rbf file)
• https://github.com/jekkos/urjtag‑st7xxx  HUDI is a specific Hitachi debug protocol used in the ST7xxx SOCs which will allow to use peek/poke commands within urJtag.
• https://github.com/zoobab/urjtag‑arduiggler  This is urjtag using an Arduino as a JTAG cable (only with a FT232 usb‑serial converter for the moment).