There are two JTAG port interfaces: PSJTAG and PJTAG. The PSJTAG port can reach all TAP controllers on the chain. The signals are on the device pins listed in Table: PS JTAG Interface Pins.
The PJTAG interface port provides exclusive access to the Arm DAP controller. The PJTAG interface signals on MIO are listed in Table: MIO Interfaces.
PSJTAG is discussed in System Test and Debug.