now try following:

########## ipq8064.cfg #############
reset_config  trst_and_srst

jtag_rclk 8

jtag newtap ipq8064 dap -expected-id 0x4ba00477 -irlen 4
jtag newtap apq8064 tap -expected-id 0x207100e1 -irlen 11

target create ipq8064.krait0 cortex_a -chain-position ipq8064.dap -coreid 0

####################################

try openocd -f interface/ftdi/tumpa.cfg -f ipq8064.cfg -c "init; dap info 0; 
dap info 1; dap info 2; shutdown"

with master branch you should get something like that:

Open On-Chip Debugger 0.10.0-dev-00371-g81631e4-dirty (2016-08-15-11:19)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
Warn : Interface already configured, ignoring
trst_and_srst separate srst_gates_jtag trst_push_pull srst_open_drain 
connect_deassert_srst
Info : auto-selecting first available session transport "jtag". To override use 
'transport select <transport>'.
RCLK - adaptive
apq8064.krait0
Info : RCLK (adaptive clock speed)
Info : JTAG tap: apq8064.dap tap/device found: 0x4ba00477 (mfg: 0x23b (ARM 
Ltd.), part: 0xba00, ver: 0x4)
Info : JTAG tap: apq8064.tap tap/device found: 0x207100e1 (mfg: 0x070 
(Qualcomm), part: 0x0710, ver: 0x2)
Error: Could not initialize the debug port
AP ID register 0x44770001
        Type is MEM-AP AHB
MEM-AP BASE 0xffffffff
        No ROM table present
AP ID register 0x24770002
        Type is MEM-AP APB
MEM-AP BASE 0x80000000
        ROM table in legacy format
                Component base address 0x80000000
                Peripheral ID 0x00000f0071
                Designer is 0x0f0, Qualcomm
                Part is 0x71, Unrecognized
                Component class is 0x1, ROM table
                MEMTYPE system memory not present: dedicated debug bus
        ROMTABLE[0x0] = 0x1003
                Component base address 0x80001000
                Peripheral ID 0x04003bb907
                Designer is 0x4bb, ARM Ltd.
                Part is 0x907, CoreSight ETB (Trace Buffer)
                Component class is 0x9, CoreSight component
                Type is 0x21, Trace Sink, Buffer
        ROMTABLE[0x4] = 0x2003
                Component base address 0x80002000
                Peripheral ID 0x04003bb906
                Designer is 0x4bb, ARM Ltd.
                Part is 0x906, CoreSight CTI (Cross Trigger)
                Component class is 0x9, CoreSight component
                Type is 0x14, Debug Control, Trigger Matrix
        ROMTABLE[0x8] = 0x3003
                Component base address 0x80003000
                Peripheral ID 0x04004bb912
                Designer is 0x4bb, ARM Ltd.
                Part is 0x912, CoreSight TPIU (Trace Port Interface Unit)
                Component class is 0x9, CoreSight component
                Type is 0x11, Trace Sink, Port
        ROMTABLE[0xc] = 0x4003
                Component base address 0x80004000
                Peripheral ID 0x04001bb908
                Designer is 0x4bb, ARM Ltd.
                Part is 0x908, CoreSight CSTF (Trace Funnel)
                Component class is 0x9, CoreSight component
                Type is 0x12, Trace Link, Funnel, router
        ROMTABLE[0x10] = 0x5003
                Component base address 0x80005000
                Peripheral ID 0x04002bb913
                Designer is 0x4bb, ARM Ltd.
                Part is 0x913, CoreSight ITM (Instrumentation Trace Macrocell)
                Component class is 0x9, CoreSight component
                Type is 0x43, Trace Source, Bus
        ROMTABLE[0x14] = 0x6003
                Component base address 0x80006000
                Peripheral ID 0x04000bb962
                Designer is 0x4bb, ARM Ltd.
                Part is 0x962, CoreSight STM (System Trace Macrocell)
                Component class is 0x9, CoreSight component
                Type is 0x63, Trace Source, Software
        ROMTABLE[0x18] = 0x7003
                Component base address 0x80007000
                Invalid CID 0x00000000
        ROMTABLE[0x1c] = 0x8003
                Component base address 0x80008000
                Invalid CID 0x00000000
        ROMTABLE[0x20] = 0x9003
                Component base address 0x80009000
                Invalid CID 0x00000000
        ROMTABLE[0x24] = 0x10003
                Component base address 0x80010000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x15, Debug Logic, Processor
        ROMTABLE[0x28] = 0x11003
                Component base address 0x80011000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x16, Perfomance Monitor, Processor
        ROMTABLE[0x2c] = 0x12003
                Component base address 0x80012000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x15, Debug Logic, Processor
        ROMTABLE[0x30] = 0x13003
                Component base address 0x80013000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x16, Perfomance Monitor, Processor
        ROMTABLE[0x34] = 0x14003
                Component base address 0x80014000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x15, Debug Logic, Processor
        ROMTABLE[0x38] = 0x15003
                Component base address 0x80015000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x16, Perfomance Monitor, Processor
        ROMTABLE[0x3c] = 0x16003
                Component base address 0x80016000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x15, Debug Logic, Processor
        ROMTABLE[0x40] = 0x17003
                Component base address 0x80017000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x16, Perfomance Monitor, Processor
        ROMTABLE[0x44] = 0x1c003
                Component base address 0x8001c000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x13, Trace Source, Processor
        ROMTABLE[0x48] = 0x1d003
                Component base address 0x8001d000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x13, Trace Source, Processor
        ROMTABLE[0x4c] = 0x1e003
                Component base address 0x8001e000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x13, Trace Source, Processor
        ROMTABLE[0x50] = 0x1f003
                Component base address 0x8001f000
                Peripheral ID 0x00100f006f
                Designer is 0x0f0, Qualcomm
                Part is 0x6f, Unrecognized
                Component class is 0x9, CoreSight component
                Type is 0x13, Trace Source, Processor
        ROMTABLE[0x54] = 0x0
                End of ROM table
AP ID register 0x14760010
        Type is JTAG-AP
shutdown command invoked


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