Load and run elf file over JTAG?

Is there a command line tool to download and run an elf file over JTAG without spending $$$ on DS5? What I would like to do for the Altera SoC is the equivalent to the following Xilinx/Zynq commands:

$ xmd
source ps7_init.tcl
connect arm hw
rst
ps7_init
dow u-boot.elf
con