This tutorial shows how to prepare your Raspberry PI board for debugging with JTAG (we have tested this with Raspberry Pi 1, 2, 3 and 4). Using JTAG will allow debugging the Linux kernel using hardware like Segger J-Link. As Raspberry PI board does not have a connector with a normal JTAG layout, preparing the board for JTAG debugging involves finding the correct pins and wiring them in the correct