Cortex-A9 SWO output

I am developping a baremetal application for a Cortex-A9 core, which has a CoreSight debug interface. I am using GCC for compiling and GDB for debugging (JTAG Interface), and things work fine. However, as a next step, I would like to be able to print data to a terminal in "printf" style. I don't want to use a UART for this, I want to do it over JTAG, I just don't know how.

I have done exactly this before on a Cortex-M core, sending my printf data to the  Instrumentation Trace Macrocell (ITM). I was able to see this in my debug server as SWO Output.

I need something similar for the Cortex-A9 platform. I have read that ITM is only available in Cortex-M platforms, so what is the equivalent for Cortex-A?

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