USB Blaster - JTAG tools to unbrick/debrick your router - YouTube
JTAG Programming Over A Network | Hackaday
JTAG Programmer, for COMPEX boards WP543 / WPE72 / WP546 / WP54 / WPP54 / WP18 / NP18. Jtag Programmer can be used to load in your loader and firmware.