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JTAG debugging with the Penguino AVR
The Penguino AVR has two USB endpoints: UART and JTAG. This allows both serial communication (UART) and JTAG debugging over USB. JTAG reveals and performs changes to the state of the microcontroller whilst it is running a program. We are currently working on our own software tools that will make use of this ability.
In the meantime, you can read up on JTAG at the JTAG Wikipedia Article and even create your own JTAG tools by referring to the JTAG section of the ATMega32A datasheet.