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Raspberry PI 3 DSTREAM JTAG debugging

I have trouble with RPi-3 bare metal debugging. I use DSTREAM unit with DS-5 (upgraded, the latest version).

1. U-boot was added a startup code that sets up GPIO pins to support JTAG connection

2. DS-5 properly does boundary scanning, result is similar to https://community.arm.com/tools/f/discussions/5908/ds-5-and-raspberry-pi-2. CPUs are properly detected, no error is reported. Startup code does the job, as without it the boundary scan fails.

3. When I try to connect to the target, I get this error message:

Unable to connect to device Cortex-A53_0

An unknown error was received.

Unable to connect to device Cortex-A53_0

DS-5 documentation says it support RPi-3. What do I miss?

Thank you for your help,

Jarek.