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Application development and debugging on a secure device is not really recommended but there is flexibility in the boot process that allow this functionality when required. The ini file for creation of secure boot images contains field called BootExitType and TAPCFG. Specifying the BootExit type as NONSECURE and TAPCFG= 0x0000FFFF will force the device to exit ROM boot in NON-secure mode and open the JTAG pins to connect the emulator.
