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This is a response from 2 weeks ago to this same question...from Intel. Thought I would throw this in, since it appears that Galileo needs driver support in order to work with JTAG devices (I have altered it a bit for clarity):
The problem is with the software on this and not the hardware, for example you can use the hardware debuggers below with Galileo (and probably dozens of other cheap ones that haven't been tested.)
I wrote openocd code for Quark X1000 to run with these debuggers, give me a few weeks and I should have it ready for consumption
Then you just use GDB/Eclipse or whatever GUI you want on top
and use one of these, Galileo has a small 10 pin connector, so maybe order yourself one of these in advance:
<Disclaimer, I work at Mouser. > If I get anything on where this gets posted, I'll post it here later.