This might be interesting.

Chip  FTDI FT232R has a special mode named “synchronous bit bang”.
It could be used for implementing fast serial interfaces like SPI or JTAG.
There exist several starter boards based on FT232R. Using these boards,
one could easily build a simple JTAG programmer

Patch for OpenOCD: debugger is available here:

Disclaim: I do not have FT232R. I just feel this might be interesting.

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