JTAG access via DDCID

[Aiyps]

Hi,

I am debugging STM32MP2 via JTAG and would like to access a process via DAP.  I believe it is possible via the Debug Domain CID (DDCID)that is mentioned in this URL:

https://wiki.st.com/stm32mpu/wiki/Resource_Isolation_Framework_overview 

Unfortunately, I am unable to find proper documentation and steps involved.
I would appreciate any advice regarding how to access a resource using DDCID.

Thank you.
Best regards,
Aiyps