RTOS/AM5718: AM5718 JTAG and TiRTOS debug

Part Number:AM5718

Tool/software: TI-RTOS

Hi,

This is related to the below thread.

http://e2e.ti.com/support/processors/f/791/p/793465/2943844#2943844

I have planned to implement JTAG scheme as in TMDXIDK5718. Scematics attached.

If this is the scheme I follow then what limitation for TiRTOS trace debugging using XDS200. Can I do trace debugging of AM5718??

Do I need to buy some additional tools??

Any hardware provision to enhance debugging. Any example design for this scheme.