Christian Jann has published a blog entry on “Christian’s Blog” titled “Debugging the Linux kernel via JTAG on the NVIDIA Jetson TK1 / Jetson Pro DevKit“.
The article describes how to setup the Jetson and prepare to debug the Tegra K1 SOC using an In-Circuit Debugger (ICD).
The ICD connects through the JTAG port on the Jetson. This technique is very useful for debugging Linux kernel code and added hardware modules.