Unfortunately, there is no way to physically disable the JTAG controller, e.g. by blowing some OTP bit, in the i.MX21 processor. Also, there seems to be no reliable way to secure the JTAG controller in software. The only way to avoid unwanted access to the JTAG port seems to make the port physically inaccessible, e.g. by not routing the JTAG signals out of the processor's PCB footprint and hardwiring all of them (except for TDO) to NVDD power rail within the PCB.
Have a great day,
Artur
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