>  #define swjdp_memoryap 0
>  #define swjdp_debugap 1

For Cortex-A8 it's likely not SWJ-DP but
instead JTAG-DP ... regardless it's best
not to try exposing irrelevant details
like that in naming conventions here...

>  
> +static const char *variant = NULL;

"variant" is never changed but ...
> ...
> +           
>     uint32_t *dbgbase, uint32_t *apid)
> +{
> +    /* Various CPU-specific quirks */
> +
> +    /* iMX51 misreports ROM Table address

... and surely that can be detected, and then
handled in a better way.
> */
> +    if ((variant != NULL) &&
> (strcmp(variant, "imx51") == 0))


 ... here we assume ight might be ...
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