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Secure vs. Non Secure boot

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Secure vs. Non Secure boot

How is the CSU ROM configured? According chapter 39 of UG1085, "With non-scure boots, the CSU ROM enables the PL and DAP access"  If I switch to JTAG mode on SW2 that would be considered non-secure. Correct? 
If the above is true why is the DAP not accessable?