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OMAPL-138/C6748/AM1808 JTAG information can be found in the device datasheet debug chapter at:

Information about ICEpick can be found at ICEPICK. The default is no device is in the scan chain, just ICEpick. You must use scan sequences to set a processor into the scan chain. No combination of EMU0/1 pins will do this.

Abatron BDI 3000 emulator can be used for Linux/ARM9 JTAG debugging on OMAPL1.  Click here to get Abatron BDI 3000  emulator configuration file for OMAPL1