Ok, so the JTAG stuff is really coming along. A few problems. The OCD Commander is by default in "big endian" mode, so you have to switch it to "little endian" but issuing the command "endian little". Then it tries to locate the minIcache at address 0. If you change it to something after your bootloader it should work. So I changed it to 0x500000 by issuing the command "xmon 0x500000". Now it works! I have the XScale stepping though code.
New problem. Now, when I try to halt it, the PC always has 0 in it. It should have the address of the current instruction. This is the problem to solve for tomorrow.