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Hi, it is technically possible to add JTAG support, but I haven't spent much time integrating it because I usually don't need full JTAG and from the last time I looked into it, the performance was not great. This is in part because the USB handling is not particularly optimized, and in part because CMSIS-DAP 1.0 is not very fast as far as JTAG transports go.
I successfully use dap42 on a general STM32F103 board (BluePill exactly).
I guess nothing prevents JTAG be on for it. Thanks.
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