This tutorial describes settting up Rapsberry Pi for debugging over ARM JTAG.
It has only two wires, unlike eight in the tutorial, so naive way is likely to fail. Is there any easy way to make it work?
The first tutorial describes setting up RPi for debugging, the second explains how to use JTAG to program MSP430. A slight difference that explains where are those extra wires going. Besides that, MSP430 JTAG support is very limited and could not be used with fully JTAG-compatible devices.
You might (though very unlikely) get away with two wires if your goal is only to program your RPi, but what's the point? Wires are not expensive nor hard to find, use as much as explained in the tutorial and be safe.