@bipulpandey
Hello,
the following may be helpful:
https://community.nxp.com/t5/i-MX-Processors/Whic-JTAG-tool-for-IMX28/m-p/311381
To debug, using JTAG, we must enter special boot mode (Wait JTAG connection).
To debug the i.MX28/23, you must boot it in boot mode 6. In this mode, the boot ROM will enable
the JTAG pins and go into a two- instruction infinite loop, waiting for the debugger to release it.
Regards,
Yuri.