JTAG and SWD debug hardware
The following debug hardware probes and integrations are available, for direct access into Arm's CoreSight debug and trace architecture:
DSTREAM Family
Maximum visibility into Arm processors, with up to 19.2 Gbps parallel trace over 32 pins, streams trace data directly to host PC, system autodetection with Development Studio and a range of target connectors including JTAG, MICTOR, and CoreSight.

CMSIS-DAP
For simple debug over driverless USB, CMSIS-DAP provides an abstraction of the CoreSight Debug Access Port command set. The JTAG/SWD connection is incorporated into the board-level layout.