A cheap approach creating JTAG interface to BCM2335 is in utilizing Multi Protocol Synchronous Serial Engine (MPSSE) in FT2232D chip. Actually, FT2232C and FT2232H could be used either.
Hence I am using Raspberry Pi Model B Revision 2.0, I do not need to worry about GPIO27 (ARM_TMS signal) anymore. This pin was rerouted to P1 pin 13. So, the final connection map looks the following way: