diff --git a/Makefrag b/Makefrag
index a04a1e4..4b6e4a6 100644
--- a/Makefrag
+++ b/Makefrag
@@ -55,6 +55,9 @@ $(build_dir)/$(long_name).fir $(build_dir)/$(long_name).prm $(build_dir)/$(long_
 	mkdir -p $(build_dir)
 	cd $(base_dir) && $(SBT) "run-main $(PROJECT).Generator $(CHISEL_ARGS) $(build_dir) $(PROJECT) $(MODEL) $(CFG_PROJECT) $(CONFIG)"
 
+$(base_dir)/vsrc/JtagTestHarness.v: $(build_dir)/$(long_name).fir
+	cd $(base_dir) && $(SBT) "run-main craft.JtagTestHarnessApp"
+
 $(build_dir)/$(long_name).v $(build_dir)/$(long_name).harness.v $(build_dir)/$(long_name).conf: $(build_dir)/$(long_name).fir $(FIRRTL_JAR)
 	cd $(base_dir) && $(SBT) "run-main barstools.tapeout.transforms.GenerateTopAndHarness -i $< --top-o $(build_dir)/$(long_name).v --harness-o $(build_dir)/$(long_name).harness.v --syn-top $(VLSICORE) --harness-top $(MODEL) --seq-mem-flags \"-o:$(build_dir)/$(long_name).conf\" --list-clocks \"-o:$(build_dir)/$(long_name).domains\" --anno-file $(build_dir)/$(long_name).anno" 
 
diff --git a/src/main/resources/JtagTestHarness.v b/src/main/resources/JtagTestHarness.v
new file mode 100644
index 0000000..4199da0
--- /dev/null
+++ b/src/main/resources/JtagTestHarness.v
@@ -0,0 +1,58 @@
+`timescale {{timeUnitPs}}ps / {{timePrecisionFs}}fs
+`define CLK_PERIOD {{clkMul}}
+`define HALF_CLK_PERIOD {{clkHalfMul}}
+`define RESET_TIME {{resetTime}}
+`define INIT_TIME  {{initTime}}
+
+`define expect(nodeName, nodeVal, expVal, cycle, message) \
+    if (nodeVal !== expVal) begin \
+    $display("\t ASSERTION ON %s FAILED @ CYCLE = %d, 0x%h != EXPECTED 0x%h\n", nodeName,cycle,nodeVal,expVal); \
+    $display(message); \
+    $stop; \
+end
+
+module {{moduleName}}(
+    // Inputs of DUT, outputs to this testbench
+    {{#each inputs}}output {{signed}}[{{width}}-1:0] {{name}},
+    {{/each}}
+    // Outputs of DUT, inputs to this testbench
+    {{#each outputs}}input {{signed}}[{{width}}-1:0] {{name}},
+    {{/each}}
+    output finish
+);
+
+    integer cycle = 0;
+    reg clock     = 1;
+    reg reset     = 1;
+    
+    {{#each inputs}}reg {{signed}}[{{width}}-1:0] reg_{{name}} = 0;
+    {{/each}}
+
+    {{#each inputs}}assign {{name}} = reg_{{name}};
+    {{/each}}
+
+    always #`HALF_CLK_PERIOD clock = ~clock;
+
+    initial begin
+        #`RESET_TIME
+        forever #`CLK_PERIOD cycle = cycle + 1;
+    end
+
+    initial begin
+        #`INIT_TIME reset = 0;
+    {{#each statements}}
+        {{#if step}}// step {{step_n}}
+        #({{step_n}}*`CLK_PERIOD){{/if}}{{#if reset}}// reset {{reset_n}}
+        reset = 1;
+        #({{reset_n}}*`CLK_PERIOD)
+        reset = 0;{{/if}}{{#if poke}}// poke {{poke_name}} {{poke_value}}
+        reg_{{poke_name}} = {{poke_value}};{{/if}}{{#if expect}}// expect {{expect_name}} {{expect_value}} {{expect_message}}
+        `expect("{{expect_name}}", {{expect_name}}, {{expect_value}}, cycle, "{{expect_message}}"){{/if}}{{/each}}
+
+        // finish = 1;
+        {{#if end_on_finish}}
+        #`CLK_PERIOD $display("\t **Ran through all test vectors**"); $finish;
+        {{/if}}
+    end
+endmodule
+
diff --git a/src/main/scala/craft/JTAG.scala b/src/main/scala/craft/JTAG.scala
index 4702d71..4a2718e 100644
--- a/src/main/scala/craft/JTAG.scala
+++ b/src/main/scala/craft/JTAG.scala
@@ -20,5 +20,6 @@ trait JTAGTestLevelIO {
   val tdi        = Input(Bool())
   val tdo        = Output(Bool())
   val tclk       = Input(Bool())
+  val tdo_driven = Output(Bool())
 }
 
diff --git a/src/main/scala/craft/JtagTestHarness.scala b/src/main/scala/craft/JtagTestHarness.scala
new file mode 100644
index 0000000..c0b44df
--- /dev/null
+++ b/src/main/scala/craft/JtagTestHarness.scala
@@ -0,0 +1,139 @@
+package craft
+
+
+import cde._
+import chisel3.iotesters._
+import chisel3.iotesters.experimental._
+import diplomacy._
+import dspblocks._
+import jtag._
+import jtag.test._
+import uncore.tilelink._
+import _root_.junctions._
+
+import org.scalatest._
+object ReportVerilog {
+  def getResource(name: String):String = {
+	import scala.io.Source
+	val stream = getClass.getResourceAsStream(name)
+	Source.fromInputStream( stream ).getLines.mkString("\n")
+  }
+
+  def writeFile(name: String, contents:String): Unit = {
+	import java.io.{File, PrintWriter}
+	val writer = new PrintWriter(new File(name))
+	writer.write(contents)
+	writer.close()
+  }
+
+  def apply(stmts: Seq[Statement]): Unit = {
+    // inputs of the testbench, outputs of the DUT
+    val inputStrs = Set(stmts.map(_ match {
+      case PokeStatement(s, _) => Some(s)
+      case _                   => None
+    }).flatten: _*)
+    // outputs of the testbench, inputs of the DUT
+    val outputStrs  = Set(stmts.map(_ match {
+      case ExpectStatement(s, _, _) => Some(s)
+      case _                        => None
+    }).flatten: _*) -- inputStrs
+    object JtagTest {
+      val moduleName = "JtagTestHarness"
+      val timeUnitPs = 1
+      val timePrecisionFs = 100
+      val clkMul = 16666
+      val clkHalfMul = clkMul/2
+      val resetTime = 0
+      val initTime  = 0
+      val end_on_finish = true
+      val inputs = inputStrs.map(i => Map(
+        "width"  -> 1,
+        "signed" -> "",
+        "name"   -> i))
+      val outputs = outputStrs.map(o => Map(
+        "width"  -> 1,
+        "signed" -> "",
+        "name"   -> o))
+      val statements = stmts.map(s => { 
+        val stepMap = s match {
+          case StepStatement(n) => Map(
+            "step"   -> true,
+            "step_n" -> n)
+          case _ => Map(
+            "step"   -> false,
+            "step_n" -> 0)
+        }
+        val resetMap = s match {
+          case ResetStatement(n) => Map(
+            "reset"   -> true,
+            "reset_n" -> n)
+          case _ => Map(
+            "reset"   -> false,
+            "reset_n" -> 0)
+        }
+        val pokeMap = s match {
+          case PokeStatement(n, v) => Map(
+            "poke"       -> true,
+            "poke_name"  -> n,
+            "poke_value" -> v)
+          case _ => Map(
+            "poke"       -> false,
+            "poke_name"  -> "",
+            "poke_value" -> 0)
+        }
+        val expectMap = s match {
+          case ExpectStatement(n, v, m) => Map(
+            "expect"         -> true,
+            "expect_name"    -> n,
+            "expect_value"   -> v,
+            "expect_message" -> m)
+          case _ => Map(
+            "expect"         -> false,
+            "expect_name"    -> "",
+            "expect_value"   -> 0,
+            "expect_message" -> "")
+        }
+        stepMap ++ resetMap ++ pokeMap ++ expectMap
+      })
+    }
+	val testbench: String = {
+	  import com.gilt.handlebars.scala.binding.dynamic._
+	  import com.gilt.handlebars.scala.Handlebars
+
+	  val template = getResource("/JtagTestHarness.v")
+	  val t= Handlebars(template)
+	  t(JtagTest)
+	}
+
+    writeFile("vsrc/JtagTestHarness.v", testbench)
+    println(testbench)
+  }
+}
+
+object JtagTestHarnessApp extends App with JtagAxiUtilities {
+  val p = Parameters.root((new Craft2SimpleConfig).toInstance).alterPartial {
+    case TLId => "craft-radar"
+  }
+  def dut(p: Parameters) = LazyModule(new DspChainWithADC()(p)).module
+  test(dut(p), testerBackend=chisel3.iotesters.experimental.IntermediateBackend, options = new TesterOptionsManager {
+    testerOptions = testerOptions.copy(intermediateReportFunc = ReportVerilog.apply _)
+    interpreterOptions = interpreterOptions.copy(setVerbose = false, writeVCD = true)
+    }) { implicit t => c =>
+    implicit val n: HasNastiParameters = c.io.data_axi.ar.bits
+
+    c.io.jtag map { j =>
+      // let the chain come up
+      step(20)
+
+      axiRead(j, BigInt(0x7000L), BigInt(0x0))
+      step(10)
+
+      axiWrite(j, BigInt(0x7000L), BigInt(0x7), id = 1)
+      step(10)
+
+      axiRead(j, BigInt(0x7000L), BigInt(0x7))
+      step(10)
+    }
+  }
+
+}
diff --git a/tests/Makefile b/tests/Makefile
index da9d757..fb1d7a8 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -2,7 +2,7 @@ GCC=riscv64-unknown-elf-gcc
 CFLAGS=-mcmodel=medany -std=gnu99 -O2 -fno-common -fno-builtin-printf
 LDFLAGS=-static -nostdlib -nostartfiles -lgcc
 
-default: memcpy-dma.riscv pwm.riscv noop.riscv fft.riscv adc.riscv pg_prog.riscv
+default: memcpy-dma.riscv pwm.riscv noop.riscv fft.riscv adc.riscv pg_prog.riscv spin.riscv
 
 %.o: %.S
 	$(GCC) $(CFLAGS) -D__ASSEMBLY__=1 -c $< -o $@
diff --git a/tests/noop.c b/tests/noop.c
index 7646a78..3300d31 100644
--- a/tests/noop.c
+++ b/tests/noop.c
@@ -2,6 +2,8 @@
 #define PWM_DUTY 0x2008
 #define PWM_ENABLE 0x2010
 
+#include <stdio.h>
+
 static inline void write_reg(unsigned long addr, unsigned long data)
 {
 	volatile unsigned long *ptr = (volatile unsigned long *) addr;
@@ -18,4 +20,5 @@ int main(void)
 {
     int i = 0;
     i++;
+    printf("Oh hai mark");
 }
diff --git a/tests/spin.c b/tests/spin.c
new file mode 100644
index 0000000..7ccc917
--- /dev/null
+++ b/tests/spin.c
@@ -0,0 +1,5 @@
+int main(void)
+{
+    while(1);
+    return 0;
+}
diff --git a/vsrc/TestDriver.v b/vsrc/TestDriver.v
index f96fba3..4124031 100644
--- a/vsrc/TestDriver.v
+++ b/vsrc/TestDriver.v
@@ -156,6 +156,27 @@ module TestDriver;
     end
   end
 
+  reg trst = 1'b0;
+  reg tclk;
+  reg tms;
+  reg tdi;
+  reg tdo;
+  reg tdo_driven;
+
+  `ifdef JTAG_HARNESS
+    JtagTestHarness jtagHarness(
+        .io_jtag_TMS(tms),
+        .io_jtag_TCK(tclk),
+        .io_jtag_TDI(tdi),
+        .io_jtag_TDO_driven(tdo_driven),
+        .io_jtag_TDO_data(tdo)
+    );
+  `else
+      tms = 1'b0;
+      tdi = 1'b0;
+      tclk = 1'b0;
+  `endif
+
   wire [1:0] dummy;
   TestHarness testHarness(
     // TSI clock and reset
@@ -180,11 +201,12 @@ module TestDriver;
     .io_ADCCLKP(dsp_clock),
     .io_ADCCLKM(~dsp_clock),
     // JTAG
-    .io_trst(reset),
-    .io_tclk(1'b0),
-    .io_tms(1'b0),
-    .io_tdi(1'b0),
-    .io_tdo(),
+    .io_trst(trst),
+    .io_tclk(tclk),
+    .io_tms(tms),
+    .io_tdi(tdi),
+    .io_tdo(tdo),
+    .io_tdo_driven(tdo_driven),
     // test IO
     .io_success(success)
   );