Both Multi-ICE and RealView ICE can connect to an ARM core which is daisy-chained with other devices as long as all the devices in the scan-chain have standard TAP controllers. When you connect with your debugger to the ARM core in the middle of the scan-chain, the JTAG tool puts all the other devices in bypass mode.

ARM JTAG tools have information about a limited number of non-ARM devices, so normally auto-configuration doesn't work in these circumstances. However, you can load a manual configuration file in Multi-ICE Server or define a custom scan-chain in RVConfig to connect to the ARM core.

Details about how to do this are available in the Multi-ICE and RealView ICE user guides.