A Stellaris EvalBOT can double as JTAG programmer. For pin-out please refer to the schematic attached(taken from EvalBOT doc). I soldered some thin wires on the Debug pads on the board and on other end soldered 6-Pin female header. I used OpenOCD Linux (stable) on software side and used FTDI Linux drivers. Somehow OpenOCD win32 does not work(did not detect FT2232). I chose luminary-lm3s811.cfg as Interface and cpld\xilinx-xcr3256.cfg as board configuration.