To start with - I don't have JTAG hardware debugger.
What I have:
Pandaboard and serial-USB cable to connect to console and my computer with Freebsd and GNU/Linux distribution.
What I'm looking for - convinient way to trace/debug bootprocess inside FreeBSD kernel ( I'm mostly interested in this fragment: https://github.com/freebsd/freebsd/blob/master/sys/arm/arm/locore-v6.S and https://github.com/freebsd/freebsd/blob/master/sys/arm/arm/mp_machdep.c as I'm, going to modyfy those files ).