X-Git-Url: https://review.openocd.org/gitweb?a=blobdiff_plain;f=src%2Fjtag%2Fvsllink.c;h=cc3308f573c08daa97729e4f901dc84120d864e4;hb=f8a62fb9c62f165696cc34eeb23b2bc1f6a79000;hp=7e9bbc1f02aefd57ea3dbf9c89cc05e815d34f3b;hpb=d2d75efb3929b0067f7dcb6f9973ec8c47948135;p=openocd.git

diff --git a/src/jtag/vsllink.c b/src/jtag/vsllink.c
index 7e9bbc1f02..cc3308f573 100644
--- a/src/jtag/vsllink.c
+++ b/src/jtag/vsllink.c
@@ -26,43 +26,30 @@
 #include "config.h"
 #endif
 
-#include "replacements.h"
-
-#include "jtag.h"
-
-#include <usb.h>
-#include <string.h>
-
-#include "log.h"
+#include "interface.h"
+#include "commands.h"
+#include "usb_common.h"
 
 //#define _VSLLINK_IN_DEBUG_MODE_
 
-/* enable this to view USB communication
- */
-#if 0
-#define _DEBUG_USB_COMMS_
-#endif
+#define VSLLINK_MODE_NORMAL			0
+#define VSLLINK_MODE_DMA			1
 
-#ifdef _DEBUG_JTAG_IO_
-#define DEBUG_JTAG_IO(expr ...)		LOG_DEBUG(expr)
-#else
-#define DEBUG_JTAG_IO(expr ...)
-#endif
-
-static u16 vsllink_vid;
-static u16 vsllink_pid;
-static u8 vsllink_bulkout;
-static u8 vsllink_bulkin;
-
-#define VSLLINK_USB_TIMEOUT			10000
+static uint16_t vsllink_usb_vid;
+static uint16_t vsllink_usb_pid;
+static uint8_t vsllink_usb_bulkout;
+static uint8_t vsllink_usb_bulkin;
+static uint8_t vsllink_usb_interface;
+static uint8_t vsllink_mode = VSLLINK_MODE_NORMAL;
+static int VSLLINK_USB_TIMEOUT = 10000;
 
 static int VSLLINK_BufferSize = 1024;
 
 /* Global USB buffers */
 static int vsllink_usb_out_buffer_idx;
 static int vsllink_usb_in_want_length;
-static u8* vsllink_usb_in_buffer = NULL;
-static u8* vsllink_usb_out_buffer = NULL;
+static uint8_t* vsllink_usb_in_buffer = NULL;
+static uint8_t* vsllink_usb_out_buffer = NULL;
 
 /* Constants for VSLLink command */
 #define VSLLINK_CMD_CONN			0x80
@@ -74,6 +61,7 @@ static u8* vsllink_usb_out_buffer = NULL;
 #define VSLLINK_CMD_HW_JTAGSEQCMD	0xA0
 #define VSLLINK_CMD_HW_JTAGHLCMD	0xA1
 #define VSLLINK_CMD_HW_SWDCMD		0xA2
+#define VSLLINK_CMD_HW_JTAGRAWCMD	0xA3
 
 #define VSLLINK_CMDJTAGSEQ_TMSBYTE	0x00
 #define VSLLINK_CMDJTAGSEQ_TMSCLOCK	0x40
@@ -104,24 +92,23 @@ static u8* vsllink_usb_out_buffer = NULL;
  *
  * SD->SD and SI->SI have to be caught in interface specific code
  */
-static u8 VSLLINK_tap_move[6][6] =
+static uint8_t VSLLINK_tap_move[6][6] =
 {
 /*	  TLR   RTI   SD    PD    SI    PI             */
 	{0xff, 0x7f, 0x2f, 0x0a, 0x37, 0x16},	/* TLR */
 	{0xff, 0x00, 0x45, 0x05, 0x4b, 0x0b},	/* RTI */
 	{0xff, 0x61, 0x00, 0x01, 0x0f, 0x2f},	/* SD  */
-	{0xff, 0x60, 0x40, 0x5c, 0x3c, 0x5e},	/* PD  */
+	{0xfe, 0x60, 0x40, 0x5c, 0x3c, 0x5e},	/* PD  */
 	{0xff, 0x61, 0x07, 0x17, 0x00, 0x01},	/* SI  */
-	{0xff, 0x60, 0x38, 0x5c, 0x40, 0x5e}	/* PI  */
+	{0xfe, 0x60, 0x38, 0x5c, 0x40, 0x5e}	/* PI  */
 };
 
-typedef struct insert_insignificant_operation
-{
+struct insert_insignificant_operation {
 	unsigned char insert_value;
 	unsigned char insert_position;
-}insert_insignificant_operation_t;
+};
 
-static insert_insignificant_operation_t VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[6][6] =
+static struct insert_insignificant_operation VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[6][6] =
 {
 /*	 stuff	offset   */
 	{/*	TLR	*/
@@ -168,133 +155,123 @@ static insert_insignificant_operation_t VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[6]
 	{0,		0,}},	/* PI  */
 };
 
-static u8 VSLLINK_BIT_MSK[8] =
+static uint8_t VSLLINK_BIT_MSK[8] =
 {
 	0x00, 0x01, 0x03, 0x07, 0x0f, 0x1f, 0x3f, 0x7f
 };
 
-typedef struct
-{
-	int length; /* Number of bits to read */
+struct pending_scan_result {
 	int offset;
-	scan_command_t *command; /* Corresponding scan command */
-	u8 *buffer;
-} pending_scan_result_t;
+	int length; /* Number of bits to read */
+	struct scan_command *command; /* Corresponding scan command */
+	uint8_t *buffer;
+};
 
 #define MAX_PENDING_SCAN_RESULTS 256
 
 static int pending_scan_results_length;
-static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
-
-/* External interface functions */
-static int vsllink_execute_queue(void);
-static int vsllink_speed(int speed);
-static int vsllink_khz(int khz, int *jtag_speed);
-static int vsllink_speed_div(int jtag_speed, int *khz);
-static int vsllink_register_commands(struct command_context_s *cmd_ctx);
-static int vsllink_init(void);
-static int vsllink_quit(void);
-
-/* CLI command handler functions */
-static int vsllink_handle_usb_vid_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
-static int vsllink_handle_usb_pid_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
-static int vsllink_handle_usb_bulkin_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
-static int vsllink_handle_usb_bulkout_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
+static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 
 /* Queue command functions */
 static void vsllink_end_state(tap_state_t state);
-static void vsllink_state_move(void);
-static void vsllink_path_move(int num_states, tap_state_t *path);
+static void vsllink_state_move_dma(void);
+static void vsllink_state_move_normal(void);
+static void (*vsllink_state_move)(void);
+static void vsllink_path_move_dma(int num_states, tap_state_t *path);
+static void vsllink_path_move_normal(int num_states, tap_state_t *path);
+static void (*vsllink_path_move)(int num_states, tap_state_t *path);
 static void vsllink_runtest(int num_cycles);
-static void vsllink_stableclocks(int num_cycles, int tms);
-static void vsllink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
+static void vsllink_stableclocks_dma(int num_cycles, int tms);
+static void vsllink_stableclocks_normal(int num_cycles, int tms);
+static void (*vsllink_stableclocks)(int num_cycles, int tms);
+static void vsllink_scan_dma(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command);
+static void vsllink_scan_normal(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command);
+static void (*vsllink_scan)(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command);
 static void vsllink_reset(int trst, int srst);
-static void vsllink_simple_command(u8 command);
+static void vsllink_simple_command(uint8_t command);
+static int vsllink_connect(void);
+static int vsllink_disconnect(void);
 
 /* VSLLink tap buffer functions */
-static void vsllink_tap_init(void);
-static int vsllink_tap_execute(void);
-static void vsllink_tap_ensure_space(int scans, int bytes);
-static void vsllink_tap_append_scan(int length, u8 *buffer, scan_command_t *command, int offset);
+static void vsllink_tap_append_step(int tms, int tdi);
+static void vsllink_tap_init_dma(void);
+static void vsllink_tap_init_normal(void);
+static void (*vsllink_tap_init)(void);
+static int vsllink_tap_execute_dma(void);
+static int vsllink_tap_execute_normal(void);
+static int (*vsllink_tap_execute)(void);
+static void vsllink_tap_ensure_space_dma(int scans, int length);
+static void vsllink_tap_ensure_space_normal(int scans, int length);
+static void (*vsllink_tap_ensure_space)(int scans, int length);
+static void vsllink_tap_append_scan_dma(int length, uint8_t *buffer, struct scan_command *command);
+static void vsllink_tap_append_scan_normal(int length, uint8_t *buffer, struct scan_command *command, int offset);
 
 /* VSLLink lowlevel functions */
-typedef struct vsllink_jtag
-{
+struct vsllink {
 	struct usb_dev_handle* usb_handle;
-} vsllink_jtag_t;
+};
 
-static vsllink_jtag_t *vsllink_usb_open(void);
-static void vsllink_usb_close(vsllink_jtag_t *vsllink_jtag);
-static int vsllink_usb_message(vsllink_jtag_t *vsllink_jtag, int out_length, int in_length);
-static int vsllink_usb_write(vsllink_jtag_t *vsllink_jtag, int out_length);
-static int vsllink_usb_read(vsllink_jtag_t *vsllink_jtag);
+static struct vsllink *vsllink_usb_open(void);
+static void vsllink_usb_close(struct vsllink *vsllink);
+static int vsllink_usb_message(struct vsllink *vsllink, int out_length, int in_length);
+static int vsllink_usb_write(struct vsllink *vsllink, int out_length);
+static int vsllink_usb_read(struct vsllink *vsllink);
 
-#ifdef _DEBUG_USB_COMMS_
-static void vsllink_debug_buffer(u8 *buffer, int length);
+#if defined _DEBUG_USB_COMMS_ || defined _DEBUG_JTAG_IO_
+static void vsllink_debug_buffer(uint8_t *buffer, int length);
 #endif
 
 static int vsllink_tms_data_len = 0;
-static u8* vsllink_tms_cmd_pos;
+static uint8_t* vsllink_tms_cmd_pos;
 
-static vsllink_jtag_t* vsllink_jtag_handle;
+static int tap_length = 0;
+static int tap_buffer_size = 0;
+static uint8_t *tms_buffer = NULL;
+static uint8_t *tdi_buffer = NULL;
+static uint8_t *tdo_buffer = NULL;
+static int last_tms;
 
-/***************************************************************************/
-/* External interface implementation */
+static struct vsllink* vsllink_handle = NULL;
 
-jtag_interface_t vsllink_interface =
+static void reset_command_pointer(void)
 {
-	.name = "vsllink",
-	.execute_queue = vsllink_execute_queue,
-	.speed = vsllink_speed,
-	.khz = vsllink_khz,
-	.speed_div = vsllink_speed_div,
-	.register_commands = vsllink_register_commands,
-	.init = vsllink_init,
-	.quit = vsllink_quit
-};
+	if (vsllink_mode == VSLLINK_MODE_NORMAL)
+	{
+		vsllink_usb_out_buffer[0] = VSLLINK_CMD_HW_JTAGSEQCMD;
+		vsllink_usb_out_buffer_idx = 3;
+	}
+	else
+	{
+		tap_length = 0;
+	}
+}
 
 static int vsllink_execute_queue(void)
 {
-	jtag_command_t *cmd = jtag_command_queue;
+	struct jtag_command *cmd = jtag_command_queue;
 	int scan_size;
 	enum scan_type type;
-	u8 *buffer;
+	uint8_t *buffer;
 
 	DEBUG_JTAG_IO("--------------------------------- vsllink -------------------------------------");
 
-	vsllink_usb_out_buffer[0] = VSLLINK_CMD_HW_JTAGSEQCMD;
-	vsllink_usb_out_buffer_idx = 3;
+	reset_command_pointer();
 	while (cmd != NULL)
 	{
 		switch (cmd->type)
 		{
-			case JTAG_END_STATE:
-				DEBUG_JTAG_IO("end_state: %s", tap_state_name(cmd->cmd.end_state->end_state));
-
-				if (cmd->cmd.end_state->end_state != TAP_INVALID)
-				{
-					vsllink_end_state(cmd->cmd.end_state->end_state);
-				}
-				break;
-
 			case JTAG_RUNTEST:
-				DEBUG_JTAG_IO( "runtest %i cycles, end in %s", cmd->cmd.runtest->num_cycles, \
+				DEBUG_JTAG_IO("runtest %i cycles, end in %s", cmd->cmd.runtest->num_cycles, \
 					tap_state_name(cmd->cmd.runtest->end_state));
 
-				if (cmd->cmd.runtest->end_state != TAP_INVALID)
-				{
-					vsllink_end_state(cmd->cmd.runtest->end_state);
-				}
+				vsllink_end_state(cmd->cmd.runtest->end_state);
 				vsllink_runtest(cmd->cmd.runtest->num_cycles);
 				break;
 
 			case JTAG_STATEMOVE:
 				DEBUG_JTAG_IO("statemove end in %s", tap_state_name(cmd->cmd.statemove->end_state));
 
-				if (cmd->cmd.statemove->end_state != TAP_INVALID)
-				{
-					vsllink_end_state(cmd->cmd.statemove->end_state);
-				}
+				vsllink_end_state(cmd->cmd.statemove->end_state);
 				vsllink_state_move();
 				break;
 
@@ -307,10 +284,7 @@ static int vsllink_execute_queue(void)
 				break;
 
 			case JTAG_SCAN:
-				if (cmd->cmd.scan->end_state != TAP_INVALID)
-				{
-					vsllink_end_state(cmd->cmd.scan->end_state);
-				}
+				vsllink_end_state(cmd->cmd.scan->end_state);
 
 				scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 				if (cmd->cmd.scan->ir_scan)
@@ -341,9 +315,6 @@ static int vsllink_execute_queue(void)
 					tap_set_state(TAP_RESET);
 				}
 				vsllink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
-
-				vsllink_usb_out_buffer[0] = VSLLINK_CMD_HW_JTAGSEQCMD;
-				vsllink_usb_out_buffer_idx = 3;
 				break;
 
 			case JTAG_SLEEP:
@@ -354,7 +325,7 @@ static int vsllink_execute_queue(void)
 
 			case JTAG_STABLECLOCKS:
 				DEBUG_JTAG_IO("add %d clocks", cmd->cmd.stableclocks->num_cycles);
-				switch(tap_get_state())
+				switch (tap_get_state())
 				{
 				case TAP_RESET:
 					// tms should be '1' to stay in TAP_RESET mode
@@ -369,8 +340,8 @@ static int vsllink_execute_queue(void)
 					scan_size = 0;
 					break;			/* above stable states are OK */
 				default:
-					 LOG_ERROR( "jtag_add_clocks() was called with TAP in non-stable state \"%s\"",
-							 tap_state_name(tap_get_state()) );
+					 LOG_ERROR("jtag_add_clocks() was called with TAP in non-stable state \"%s\"",
+							 tap_state_name(tap_get_state()));
 					 exit(-1);
 				}
 				vsllink_stableclocks(cmd->cmd.stableclocks->num_cycles, scan_size);
@@ -394,7 +365,7 @@ static int vsllink_speed(int speed)
 	vsllink_usb_out_buffer[1] = (speed >> 0) & 0xff;
 	vsllink_usb_out_buffer[2] = (speed >> 8) & 0xFF;
 
-	result = vsllink_usb_write(vsllink_jtag_handle, 3);
+	result = vsllink_usb_write(vsllink_handle, 3);
 
 	if (result == 3)
 	{
@@ -423,23 +394,9 @@ static int vsllink_speed_div(int jtag_speed, int *khz)
 	return ERROR_OK;
 }
 
-static int vsllink_register_commands(struct command_context_s *cmd_ctx)
-{
-	register_command(cmd_ctx, NULL, "vsllink_usb_vid", vsllink_handle_usb_vid_command,
-					COMMAND_CONFIG, NULL);
-	register_command(cmd_ctx, NULL, "vsllink_usb_pid", vsllink_handle_usb_pid_command,
-					COMMAND_CONFIG, NULL);
-	register_command(cmd_ctx, NULL, "vsllink_usb_bulkin", vsllink_handle_usb_bulkin_command,
-					COMMAND_CONFIG, NULL);
-	register_command(cmd_ctx, NULL, "vsllink_usb_bulkout", vsllink_handle_usb_bulkout_command,
-					COMMAND_CONFIG, NULL);
-
-	return ERROR_OK;
-}
-
 static int vsllink_init(void)
 {
-	int check_cnt;
+	int check_cnt, to_tmp;
 	int result;
 	char version_str[100];
 
@@ -451,26 +408,29 @@ static int vsllink_init(void)
 		exit(-1);
 	}
 
-	vsllink_jtag_handle = vsllink_usb_open();
+	vsllink_handle = vsllink_usb_open();
 
-	if (vsllink_jtag_handle == 0)
+	if (vsllink_handle == 0)
 	{
 		LOG_ERROR("Can't find USB JTAG Interface! Please check connection and permissions.");
 		return ERROR_JTAG_INIT_FAILED;
 	}
+	LOG_DEBUG("vsllink found on %04X:%04X", vsllink_usb_vid, vsllink_usb_pid);
 
+	to_tmp = VSLLINK_USB_TIMEOUT;
+	VSLLINK_USB_TIMEOUT = 100;
 	check_cnt = 0;
-	while (check_cnt < 3)
+	while (check_cnt < 5)
 	{
-		vsllink_simple_command(VSLLINK_CMD_CONN);
-		result = vsllink_usb_read(vsllink_jtag_handle);
+		vsllink_simple_command(0x00);
+		result = vsllink_usb_read(vsllink_handle);
 
 		if (result > 2)
 		{
 			vsllink_usb_in_buffer[result] = 0;
 			VSLLINK_BufferSize = vsllink_usb_in_buffer[0] + (vsllink_usb_in_buffer[1] << 8);
 			strncpy(version_str, (char *)vsllink_usb_in_buffer + 2, sizeof(version_str));
-			LOG_INFO(version_str);
+			LOG_INFO("%s", version_str);
 
 			// free the pre-alloc memroy
 			free(vsllink_usb_in_buffer);
@@ -490,25 +450,69 @@ static int vsllink_init(void)
 			{
 				LOG_INFO("buffer size for USB is %d bytes", VSLLINK_BufferSize);
 			}
+			// alloc memory for dma mode
+			if (vsllink_mode == VSLLINK_MODE_DMA)
+			{
+				tap_buffer_size = (VSLLINK_BufferSize - 3) / 2;
+				tms_buffer = (uint8_t*)malloc(tap_buffer_size);
+				tdi_buffer = (uint8_t*)malloc(tap_buffer_size);
+				tdo_buffer = (uint8_t*)malloc(tap_buffer_size);
+				if ((tms_buffer == NULL) || (tdi_buffer == NULL) || (tdo_buffer == NULL))
+				{
+					LOG_ERROR("Not enough memory");
+					exit(-1);
+				}
+			}
 			break;
 		}
 		vsllink_simple_command(VSLLINK_CMD_DISCONN);
-
 		check_cnt++;
 	}
-
 	if (check_cnt == 3)
 	{
 		// It's dangerout to proced
 		LOG_ERROR("VSLLink initial failed");
 		exit(-1);
 	}
+	VSLLINK_USB_TIMEOUT = to_tmp;
+
+	// connect to vsllink
+	vsllink_connect();
+	// initialize function pointers
+	if (vsllink_mode == VSLLINK_MODE_NORMAL)
+	{
+		// normal mode
+		vsllink_state_move = vsllink_state_move_normal;
+		vsllink_path_move = vsllink_path_move_normal;
+		vsllink_stableclocks = vsllink_stableclocks_normal;
+		vsllink_scan = vsllink_scan_normal;
+
+		vsllink_tap_init = vsllink_tap_init_normal;
+		vsllink_tap_execute = vsllink_tap_execute_normal;
+		vsllink_tap_ensure_space = vsllink_tap_ensure_space_normal;
+
+		LOG_INFO("vsllink run in NORMAL mode");
+	}
+	else
+	{
+		// dma mode
+		vsllink_state_move = vsllink_state_move_dma;
+		vsllink_path_move = vsllink_path_move_dma;
+		vsllink_stableclocks = vsllink_stableclocks_dma;
+		vsllink_scan = vsllink_scan_dma;
+
+		vsllink_tap_init = vsllink_tap_init_dma;
+		vsllink_tap_execute = vsllink_tap_execute_dma;
+		vsllink_tap_ensure_space = vsllink_tap_ensure_space_dma;
+
+		LOG_INFO("vsllink run in DMA mode");
+	}
 
 	// Set SRST and TRST to output, Set USR1 and USR2 to input
 	vsllink_usb_out_buffer[0] = VSLLINK_CMD_SET_PORTDIR;
 	vsllink_usb_out_buffer[1] = JTAG_PINMSK_SRST | JTAG_PINMSK_TRST | JTAG_PINMSK_USR1 | JTAG_PINMSK_USR2;
 	vsllink_usb_out_buffer[2] = JTAG_PINMSK_SRST | JTAG_PINMSK_TRST;
-	if (vsllink_usb_write(vsllink_jtag_handle, 3) != 3)
+	if (vsllink_usb_write(vsllink_handle, 3) != 3)
 	{
 		LOG_ERROR("VSLLink USB send data error");
 		exit(-1);
@@ -531,25 +535,53 @@ static int vsllink_quit(void)
 		vsllink_usb_out_buffer[0] = VSLLINK_CMD_SET_PORTDIR;
 		vsllink_usb_out_buffer[1] = JTAG_PINMSK_SRST | JTAG_PINMSK_TRST | JTAG_PINMSK_USR1 | JTAG_PINMSK_USR2;
 		vsllink_usb_out_buffer[2] = 0;
-		if (vsllink_usb_write(vsllink_jtag_handle, 3) != 3)
+		if (vsllink_usb_write(vsllink_handle, 3) != 3)
 		{
 			LOG_ERROR("VSLLink USB send data error");
 			exit(-1);
 		}
 
 		// disconnect
-		vsllink_simple_command(VSLLINK_CMD_DISCONN);
-		vsllink_usb_close(vsllink_jtag_handle);
+		vsllink_disconnect();
+		vsllink_usb_close(vsllink_handle);
+		vsllink_handle = NULL;
 	}
 
 	if (vsllink_usb_in_buffer != NULL)
 	{
 		free(vsllink_usb_in_buffer);
+		vsllink_usb_in_buffer = NULL;
 	}
 	if (vsllink_usb_out_buffer != NULL)
 	{
 		free(vsllink_usb_out_buffer);
+		vsllink_usb_out_buffer = NULL;
+	}
+
+	return ERROR_OK;
+}
+
+/***************************************************************************/
+/* Queue command implementations */
+static int vsllink_disconnect(void)
+{
+	vsllink_simple_command(VSLLINK_CMD_DISCONN);
+	return ERROR_OK;
+}
+
+static int vsllink_connect(void)
+{
+	char vsllink_str[100];
+
+	vsllink_usb_out_buffer[0] = VSLLINK_CMD_CONN;
+	vsllink_usb_out_buffer[1] = vsllink_mode;
+	vsllink_usb_message(vsllink_handle, 2, 0);
+	if (vsllink_usb_read(vsllink_handle) > 2)
+	{
+		strncpy(vsllink_str, (char *)vsllink_usb_in_buffer + 2, sizeof(vsllink_str));
+		LOG_INFO("%s", vsllink_str);
 	}
+
 	return ERROR_OK;
 }
 
@@ -557,9 +589,10 @@ static int vsllink_quit(void)
 // length of VSLLINK_CMDJTAGSEQ_TMSBYTE has been set, no need to set it here.
 static void vsllink_append_tms(void)
 {
-	u8 tms_scan = VSLLINK_TAP_MOVE(tap_get_state(), tap_get_end_state());
-	u16 tms2;
-	tap_state_t	end_state = tap_get_end_state();
+	uint8_t tms_scan = VSLLINK_TAP_MOVE(tap_get_state(), tap_get_end_state());
+	uint16_t tms2;
+	struct insert_insignificant_operation *insert = \
+		&VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[tap_move_ndx(tap_get_state())][tap_move_ndx(tap_get_end_state())];
 
 	if (((tap_get_state() != TAP_RESET) && (tap_get_state() != TAP_IDLE) && (tap_get_state() != TAP_DRPAUSE) && (tap_get_state() != TAP_IRPAUSE)) || \
 			(vsllink_tms_data_len <= 0) || (vsllink_tms_data_len >= 8) || \
@@ -569,15 +602,15 @@ static void vsllink_append_tms(void)
 		exit(-1);
 	}
 
-	tms2 = (tms_scan & VSLLINK_BIT_MSK[VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[tap_move_ndx(tap_get_state())][tap_move_ndx(end_state)].insert_position]) << \
+	tms2 = (tms_scan & VSLLINK_BIT_MSK[insert->insert_position]) << \
 				vsllink_tms_data_len;
-	if (VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[tap_move_ndx(tap_get_state())][tap_move_ndx(end_state)].insert_value == 1)
+	if (insert->insert_value == 1)
 	{
 		tms2 |= VSLLINK_BIT_MSK[8 - vsllink_tms_data_len] << \
-				(vsllink_tms_data_len + VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[tap_move_ndx(tap_get_state())][tap_move_ndx(end_state)].insert_position);
+				(vsllink_tms_data_len + insert->insert_position);
 	}
-	tms2 |= (tms_scan >> VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[tap_move_ndx(tap_get_state())][tap_move_ndx(end_state)].insert_position) << \
-				(8 + VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[tap_move_ndx(tap_get_state())][tap_move_ndx(end_state)].insert_position);
+	tms2 |= (tms_scan >> insert->insert_position) << \
+				(8 + insert->insert_position);
 
 	vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (tms2 >> 0) & 0xff;
 	vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = (tms2 >> 8) & 0xff;
@@ -586,9 +619,6 @@ static void vsllink_append_tms(void)
 	vsllink_tms_cmd_pos = NULL;
 }
 
-/***************************************************************************/
-/* Queue command implementations */
-
 static void vsllink_end_state(tap_state_t state)
 {
 	if (tap_is_state_stable(state))
@@ -603,7 +633,7 @@ static void vsllink_end_state(tap_state_t state)
 }
 
 /* Goes to the end state. */
-static void vsllink_state_move(void)
+static void vsllink_state_move_normal(void)
 {
 	if (vsllink_tms_data_len > 0)
 	{
@@ -619,6 +649,52 @@ static void vsllink_state_move(void)
 
 	tap_set_state(tap_get_end_state());
 }
+static void vsllink_state_move_dma(void)
+{
+	int i, insert_length = (tap_length % 8) ? (8 - (tap_length % 8)) : 0;
+	struct insert_insignificant_operation *insert = \
+		&VSLLINK_TAP_MOVE_INSERT_INSIGNIFICANT[tap_move_ndx(tap_get_state())][tap_move_ndx(tap_get_end_state())];
+	uint8_t tms_scan = VSLLINK_TAP_MOVE(tap_get_state(), tap_get_end_state());
+
+	if (tap_get_state() == TAP_RESET)
+	{
+		vsllink_tap_ensure_space(0, 8);
+
+		for (i = 0; i < 8; i++)
+		{
+			vsllink_tap_append_step(1, 0);
+		}
+	}
+
+	if (insert_length > 0)
+	{
+		vsllink_tap_ensure_space(0, 16);
+
+		for (i = 0; i < insert->insert_position; i++)
+		{
+			vsllink_tap_append_step((tms_scan >> i) & 1, 0);
+		}
+		for (i = 0; i < insert_length; i++)
+		{
+			vsllink_tap_append_step(insert->insert_value, 0);
+		}
+		for (i = insert->insert_position; i < 8; i++)
+		{
+			vsllink_tap_append_step((tms_scan >> i) & 1, 0);
+		}
+	}
+	else
+	{
+		vsllink_tap_ensure_space(0, 8);
+
+		for (i = 0; i < 8; i++)
+		{
+			vsllink_tap_append_step((tms_scan >> i) & 1, 0);
+		}
+	}
+
+	tap_set_state(tap_get_end_state());
+}
 
 // write tms from current vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx]
 static void vsllink_add_path(int start, int num, tap_state_t *path)
@@ -660,7 +736,7 @@ static void vsllink_add_path(int start, int num, tap_state_t *path)
 	tap_set_end_state(tap_get_state());
 }
 
-static void vsllink_path_move(int num_states, tap_state_t *path)
+static void vsllink_path_move_normal(int num_states, tap_state_t *path)
 {
 	int i, tms_len, tms_cmd_pos, path_idx = 0;
 
@@ -779,11 +855,70 @@ static void vsllink_path_move(int num_states, tap_state_t *path)
 		}
 	}
 }
+static void vsllink_path_move_dma(int num_states, tap_state_t *path)
+{
+	int i, j = 0;
 
-static void vsllink_stableclocks(int num_cycles, int tms)
+	if (tap_length & 7)
+	{
+		if ((8 - (tap_length & 7)) < num_states)
+		{
+			j = 8 - (tap_length & 7);
+		}
+		else
+		{
+			j = num_states;
+		}
+		for (i = 0; i < j; i++)
+		{
+			if (path[i] == tap_state_transition(tap_get_state(), false))
+			{
+				vsllink_tap_append_step(0, 0);
+			}
+			else if (path[i] == tap_state_transition(tap_get_state(), true))
+			{
+				vsllink_tap_append_step(1, 0);
+			}
+			else
+			{
+				LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
+				exit(-1);
+			}
+			tap_set_state(path[i]);
+		}
+		num_states -= j;
+	}
+
+	if (num_states > 0)
+	{
+		vsllink_tap_ensure_space(0, num_states);
+
+		for (i = 0; i < num_states; i++)
+		{
+			if (path[j + i] == tap_state_transition(tap_get_state(), false))
+			{
+				vsllink_tap_append_step(0, 0);
+			}
+			else if (path[j + i] == tap_state_transition(tap_get_state(), true))
+			{
+				vsllink_tap_append_step(1, 0);
+			}
+			else
+			{
+				LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
+				exit(-1);
+			}
+			tap_set_state(path[j + i]);
+		}
+	}
+
+	tap_set_end_state(tap_get_state());
+}
+
+static void vsllink_stableclocks_normal(int num_cycles, int tms)
 {
 	int tms_len;
-	u16 tms_append_byte;
+	uint16_t tms_append_byte;
 
 	if (vsllink_tms_data_len > 0)
 	{
@@ -793,7 +928,7 @@ static void vsllink_stableclocks(int num_cycles, int tms)
 		if (tms > 0)
 		{
 			// append '1' for tms
-			tms_append_byte = (u16)((((1 << num_cycles) - 1) << vsllink_tms_data_len) & 0xFFFF);
+			tms_append_byte = (uint16_t)((((1 << num_cycles) - 1) << vsllink_tms_data_len) & 0xFFFF);
 		}
 		else
 		{
@@ -808,14 +943,14 @@ static void vsllink_stableclocks(int num_cycles, int tms)
 				// just add to vsllink_tms_data_len
 				// same result if tun through
 				//vsllink_tms_data_len += num_cycles;
-				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx] |= (u8)(tms_append_byte & 0xFF);
+				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx] |= (uint8_t)(tms_append_byte & 0xFF);
 			}
 			else if (tms_len == 8)
 			{
 				// end last tms shift command
 				// just reduce it, and append last tms byte
 				(*vsllink_tms_cmd_pos)--;
-				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (u8)(tms_append_byte & 0xFF);
+				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (uint8_t)(tms_append_byte & 0xFF);
 			}
 			else if (tms_len < 16)
 			{
@@ -825,8 +960,8 @@ static void vsllink_stableclocks(int num_cycles, int tms)
 					// there is enought tms length in the current tms shift command
 					// increase the tms byte length by 1 and set the last byte to 0
 					(*vsllink_tms_cmd_pos)++;
-					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (u8)(tms_append_byte & 0xFF);
-					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx] = (u8)(tms_append_byte >> 8);
+					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (uint8_t)(tms_append_byte & 0xFF);
+					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx] = (uint8_t)(tms_append_byte >> 8);
 				}
 				else
 				{
@@ -836,19 +971,19 @@ static void vsllink_stableclocks(int num_cycles, int tms)
 					// first decrease byte length of last tms shift command
 					(*vsllink_tms_cmd_pos)--;
 					// append last tms byte and move the command pointer to the next empty position
-					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (u8)(tms_append_byte & 0xFF);
+					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (uint8_t)(tms_append_byte & 0xFF);
 					// add new command(3 bytes)
 					vsllink_tap_ensure_space(0, 3);
 					vsllink_tms_cmd_pos = &vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx];
 					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = VSLLINK_CMDJTAGSEQ_TMSBYTE | 1;
-					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx] = (u8)(tms_append_byte >> 8);
+					vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx] = (uint8_t)(tms_append_byte >> 8);
 				}
 			}
 			else if (tms_len == 16)
 			{
 				// end last tms shift command
-				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (u8)(tms_append_byte & 0xFF);
-				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = (u8)(tms_append_byte >> 8);
+				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (uint8_t)(tms_append_byte & 0xFF);
+				vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = (uint8_t)(tms_append_byte >> 8);
 			}
 
 			vsllink_tms_data_len = tms_len & 7;
@@ -861,8 +996,8 @@ static void vsllink_stableclocks(int num_cycles, int tms)
 		else
 		{
 			// more shifts will be needed
-			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (u8)(tms_append_byte & 0xFF);
-			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = (u8)(tms_append_byte >> 8);
+			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] |= (uint8_t)(tms_append_byte & 0xFF);
+			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = (uint8_t)(tms_append_byte >> 8);
 
 			num_cycles -= 16 - vsllink_tms_data_len;
 			vsllink_tms_data_len = 0;
@@ -934,6 +1069,48 @@ static void vsllink_stableclocks(int num_cycles, int tms)
 		}
 	}
 }
+static void vsllink_stableclocks_dma(int num_cycles, int tms)
+{
+	int i, cur_cycles;
+
+	if (tap_length & 7)
+	{
+		if ((8 - (tap_length & 7)) < num_cycles)
+		{
+			cur_cycles = 8 - (tap_length & 7);
+		}
+		else
+		{
+			cur_cycles = num_cycles;
+		}
+		for (i = 0; i < cur_cycles; i++)
+		{
+			vsllink_tap_append_step(tms, 0);
+		}
+		num_cycles -= cur_cycles;
+	}
+
+	while (num_cycles > 0)
+	{
+		if (num_cycles > 8 * tap_buffer_size)
+		{
+			cur_cycles = 8 * tap_buffer_size;
+		}
+		else
+		{
+			cur_cycles = num_cycles;
+		}
+
+		vsllink_tap_ensure_space(0, cur_cycles);
+
+		for (i = 0; i < cur_cycles; i++)
+		{
+			vsllink_tap_append_step(tms, 0);
+		}
+
+		num_cycles -= cur_cycles;
+	}
+}
 
 static void vsllink_runtest(int num_cycles)
 {
@@ -958,13 +1135,13 @@ static void vsllink_runtest(int num_cycles)
 	}
 }
 
-static void vsllink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
+static void vsllink_scan_normal(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command)
 {
 	tap_state_t saved_end_state;
-	u8 bits_left, tms_tmp, tdi_len;
+	uint8_t bits_left, tms_tmp, tdi_len;
 	int i;
 
-	if (0 == scan_size )
+	if (0 == scan_size)
 	{
 		return;
 	}
@@ -987,12 +1164,12 @@ static void vsllink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_
 		{
 			// already in IRSHIFT or DRSHIFT state
 			// merge tms data in the last tms shift command into next scan command
-			if(*vsllink_tms_cmd_pos < 1)
+			if (*vsllink_tms_cmd_pos < 1)
 			{
 				LOG_ERROR("There MUST be some bugs in the driver");
 				exit(-1);
 			}
-			else if(*vsllink_tms_cmd_pos < 2)
+			else if (*vsllink_tms_cmd_pos < 2)
 			{
 				tms_tmp = vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx];
 				vsllink_usb_out_buffer_idx--;
@@ -1008,7 +1185,7 @@ static void vsllink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_
 			// which is merged from the last tms shift command
 			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = VSLLINK_CMDJTAGSEQ_SCAN | 1;
 			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = ((tdi_len + 1) >> 0) & 0xff;
-			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = ((tdi_len + 1)>> 8) & 0xff;
+			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = ((tdi_len + 1) >> 8) & 0xff;
 			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = tms_tmp;
 			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = buffer[0] << (8 - vsllink_tms_data_len);
 
@@ -1021,20 +1198,20 @@ static void vsllink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_
 				}
 			}
 
-			vsllink_tap_append_scan(scan_size - vsllink_tms_data_len, buffer, command, vsllink_tms_data_len);
+			vsllink_tap_append_scan_normal(scan_size - vsllink_tms_data_len, buffer, command, vsllink_tms_data_len);
 			scan_size -= 8 - vsllink_tms_data_len;
 			vsllink_tms_data_len = 0;
 		}
 		else
 		{
-			vsllink_append_tms();
+			vsllink_state_move();
 			vsllink_tap_ensure_space(1, tdi_len + 5);
 
 			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = VSLLINK_CMDJTAGSEQ_SCAN;
 			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = (tdi_len >> 0) & 0xff;
 			vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = (tdi_len >> 8) & 0xff;
 
-			vsllink_tap_append_scan(scan_size, buffer, command, 0);
+			vsllink_tap_append_scan_normal(scan_size, buffer, command, 0);
 		}
 	}
 	else
@@ -1047,7 +1224,7 @@ static void vsllink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_
 		vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = VSLLINK_TAP_MOVE(tap_get_state(), tap_get_end_state());
 		vsllink_usb_out_buffer[vsllink_usb_out_buffer_idx++] = 0;
 
-		vsllink_tap_append_scan(scan_size, buffer, command, 8);
+		vsllink_tap_append_scan_normal(scan_size, buffer, command, 8);
 	}
 	vsllink_end_state(saved_end_state);
 
@@ -1074,6 +1251,33 @@ static void vsllink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_
 
 	tap_set_state(tap_get_end_state());
 }
+static void vsllink_scan_dma(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command)
+{
+	tap_state_t saved_end_state;
+
+	saved_end_state = tap_get_end_state();
+
+	/* Move to appropriate scan state */
+	vsllink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
+
+	vsllink_state_move();
+	vsllink_end_state(saved_end_state);
+
+	/* Scan */
+	vsllink_tap_append_scan_dma(scan_size, buffer, command);
+
+	tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
+	while (tap_length % 8 != 0)
+	{
+		// more 0s in Pause
+		vsllink_tap_append_step(0, 0);
+	}
+
+	if (tap_get_state() != tap_get_end_state())
+	{
+		vsllink_state_move();
+	}
+}
 
 static void vsllink_reset(int trst, int srst)
 {
@@ -1094,21 +1298,21 @@ static void vsllink_reset(int trst, int srst)
 		vsllink_usb_out_buffer[2] |= JTAG_PINMSK_TRST;
 	}
 
-	result = vsllink_usb_write(vsllink_jtag_handle, 3);
+	result = vsllink_usb_write(vsllink_handle, 3);
 	if (result != 3)
 	{
 		LOG_ERROR("VSLLink command VSLLINK_CMD_SET_PORT failed (%d)", result);
 	}
 }
 
-static void vsllink_simple_command(u8 command)
+static void vsllink_simple_command(uint8_t command)
 {
 	int result;
 
 	DEBUG_JTAG_IO("0x%02x", command);
 
 	vsllink_usb_out_buffer[0] = command;
-	result = vsllink_usb_write(vsllink_jtag_handle, 1);
+	result = vsllink_usb_write(vsllink_handle, 1);
 
 	if (result != 1)
 	{
@@ -1116,78 +1320,170 @@ static void vsllink_simple_command(u8 command)
 	}
 }
 
-static int vsllink_handle_usb_vid_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
+COMMAND_HANDLER(vsllink_handle_mode_command)
 {
-	if (argc != 1) {
+	if (CMD_ARGC != 1) {
 		LOG_ERROR("parameter error, should be one parameter for VID");
-		return ERROR_OK;
+		return ERROR_FAIL;
 	}
 
-	vsllink_vid = strtol(args[0], NULL, 0);
+	if (!strcmp(CMD_ARGV[0], "normal"))
+	{
+		vsllink_mode = VSLLINK_MODE_NORMAL;
+	}
+	else if (!strcmp(CMD_ARGV[0], "dma"))
+	{
+		vsllink_mode = VSLLINK_MODE_DMA;
+	}
+	else
+	{
+		LOG_ERROR("invalid vsllink_mode: %s", CMD_ARGV[0]);
+		return ERROR_FAIL;
+	}
 
 	return ERROR_OK;
 }
 
-static int vsllink_handle_usb_pid_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
+COMMAND_HANDLER(vsllink_handle_usb_vid_command)
 {
-	if (argc != 1) {
-		LOG_ERROR("parameter error, should be one parameter for PID");
+	if (CMD_ARGC != 1)
+	{
+		LOG_ERROR("parameter error, should be one parameter for VID");
 		return ERROR_OK;
 	}
 
-	vsllink_pid = strtol(args[0], NULL, 0);
+	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], vsllink_usb_vid);
+	return ERROR_OK;
+}
 
+COMMAND_HANDLER(vsllink_handle_usb_pid_command)
+{
+	if (CMD_ARGC != 1)
+	{
+		LOG_ERROR("parameter error, should be one parameter for PID");
+		return ERROR_OK;
+	}
+	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], vsllink_usb_pid);
 	return ERROR_OK;
 }
 
-static int vsllink_handle_usb_bulkin_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
+COMMAND_HANDLER(vsllink_handle_usb_bulkin_command)
 {
-	if (argc != 1) {
+	if (CMD_ARGC != 1)
+	{
 		LOG_ERROR("parameter error, should be one parameter for BULKIN endpoint");
 		return ERROR_OK;
 	}
 
-	vsllink_bulkin = strtol(args[0], NULL, 0) | 0x80;
+	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], vsllink_usb_bulkin);
+
+	vsllink_usb_bulkin |= 0x80;
 
 	return ERROR_OK;
 }
 
-static int vsllink_handle_usb_bulkout_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
+COMMAND_HANDLER(vsllink_handle_usb_bulkout_command)
 {
-	if (argc != 1) {
+	if (CMD_ARGC != 1)
+	{
 		LOG_ERROR("parameter error, should be one parameter for BULKOUT endpoint");
 		return ERROR_OK;
 	}
 
-	vsllink_bulkout = strtol(args[0], NULL, 0);
+	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], vsllink_usb_bulkout);
+
+	vsllink_usb_bulkout &= ~0x80;
 
 	return ERROR_OK;
 }
 
+COMMAND_HANDLER(vsllink_handle_usb_interface_command)
+{
+	if (CMD_ARGC != 1)
+	{
+		LOG_ERROR("parameter error, should be one parameter for interface number");
+		return ERROR_OK;
+	}
+
+	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0], vsllink_usb_interface);
+	return ERROR_OK;
+}
+
 /***************************************************************************/
 /* VSLLink tap functions */
 
-static void vsllink_tap_init(void)
+static void vsllink_tap_init_normal(void)
 {
 	vsllink_usb_out_buffer_idx = 0;
 	vsllink_usb_in_want_length = 0;
 	pending_scan_results_length = 0;
 }
+static void vsllink_tap_init_dma(void)
+{
+	tap_length = 0;
+	pending_scan_results_length = 0;
+}
 
-static void vsllink_tap_ensure_space(int scans, int bytes)
+static void vsllink_tap_ensure_space_normal(int scans, int length)
 {
 	int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 	int available_bytes = VSLLINK_BufferSize - vsllink_usb_out_buffer_idx;
 
-	if (scans > available_scans || bytes > available_bytes)
+	if (scans > available_scans || length > available_bytes)
 	{
 		vsllink_tap_execute();
 	}
 }
+static void vsllink_tap_ensure_space_dma(int scans, int length)
+{
+	int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
+	int available_bytes = tap_buffer_size * 8 - tap_length;
+
+	if (scans > available_scans || length > available_bytes)
+	{
+		vsllink_tap_execute();
+	}
+}
+
+static void vsllink_tap_append_step(int tms, int tdi)
+{
+	last_tms = tms;
+	int index = tap_length / 8;
+
+	if (index < tap_buffer_size)
+	{
+		int bit_index = tap_length % 8;
+		uint8_t bit = 1 << bit_index;
+
+		if (tms)
+		{
+			tms_buffer[index] |= bit;
+		}
+		else
+		{
+			tms_buffer[index] &= ~bit;
+		}
+
+		if (tdi)
+		{
+			tdi_buffer[index] |= bit;
+		}
+		else
+		{
+			tdi_buffer[index] &= ~bit;
+		}
+
+		tap_length++;
+	}
+	else
+	{
+		LOG_ERROR("buffer overflow, tap_length=%d", tap_length);
+	}
+}
 
-static void vsllink_tap_append_scan(int length, u8 *buffer, scan_command_t *command, int offset)
+static void vsllink_tap_append_scan_normal(int length, uint8_t *buffer, struct scan_command *command, int offset)
 {
-	pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
+	struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 	int i;
 
 	if (offset > 0)
@@ -1210,10 +1506,44 @@ static void vsllink_tap_append_scan(int length, u8 *buffer, scan_command_t *comm
 
 	pending_scan_results_length++;
 }
+static void vsllink_tap_append_scan_dma(int length, uint8_t *buffer, struct scan_command *command)
+{
+	struct pending_scan_result *pending_scan_result;
+	int len_tmp, len_all, i;
+
+	len_all = 0;
+	while (len_all < length)
+	{
+		if ((length - len_all) > tap_buffer_size * 8)
+		{
+			len_tmp = tap_buffer_size * 8;
+		}
+		else
+		{
+			len_tmp = length - len_all;
+		}
+
+		vsllink_tap_ensure_space(1, (len_tmp + 7) & ~7);
+
+		pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
+		pending_scan_result->offset = tap_length;
+		pending_scan_result->length = len_tmp;
+		pending_scan_result->command = command;
+		pending_scan_result->buffer = buffer + len_all / 8;
+
+		for (i = 0; i < len_tmp; i++)
+		{
+			vsllink_tap_append_step(((len_all + i) < length-1 ? 0 : 1), (buffer[(len_all + i)/8] >> ((len_all + i)%8)) & 1);
+		}
+
+		pending_scan_results_length++;
+		len_all += len_tmp;
+	}
+}
 
 /* Pad and send a tap sequence to the device, and receive the answer.
  * For the purpose of padding we assume that we are in reset or idle or pause state. */
-static int vsllink_tap_execute(void)
+static int vsllink_tap_execute_normal(void)
 {
 	int i;
 	int result;
@@ -1221,7 +1551,7 @@ static int vsllink_tap_execute(void)
 
 	if (vsllink_tms_data_len > 0)
 	{
-		if((tap_get_state() != TAP_RESET) && (tap_get_state() != TAP_IDLE) && (tap_get_state() != TAP_IRPAUSE) && (tap_get_state() != TAP_DRPAUSE))
+		if ((tap_get_state() != TAP_RESET) && (tap_get_state() != TAP_IDLE) && (tap_get_state() != TAP_IRPAUSE) && (tap_get_state() != TAP_DRPAUSE))
 		{
 			LOG_WARNING("%s is not in RESET or IDLE or PAUSR state", tap_state_name(tap_get_state()));
 		}
@@ -1250,17 +1580,17 @@ static int vsllink_tap_execute(void)
 			vsllink_usb_out_buffer[2] = (vsllink_usb_out_buffer_idx >> 8) & 0xff;
 		}
 
-		result = vsllink_usb_message(vsllink_jtag_handle, vsllink_usb_out_buffer_idx, vsllink_usb_in_want_length);
+		result = vsllink_usb_message(vsllink_handle, vsllink_usb_out_buffer_idx, vsllink_usb_in_want_length);
 
 		if (result == vsllink_usb_in_want_length)
 		{
 			for (i = 0; i < pending_scan_results_length; i++)
 			{
-				pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
-				u8 *buffer = pending_scan_result->buffer;
+				struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
+				uint8_t *buffer = pending_scan_result->buffer;
 				int length = pending_scan_result->length;
 				int offset = pending_scan_result->offset;
-				scan_command_t *command = pending_scan_result->command;
+				struct scan_command *command = pending_scan_result->command;
 
 				if (buffer != NULL)
 				{
@@ -1296,80 +1626,152 @@ static int vsllink_tap_execute(void)
 
 		vsllink_tap_init();
 	}
-
-	vsllink_usb_out_buffer[0] = VSLLINK_CMD_HW_JTAGSEQCMD;
-	vsllink_usb_out_buffer_idx = 3;
+	reset_command_pointer();
 
 	return ERROR_OK;
 }
-
-/*****************************************************************************/
-/* VSLLink USB low-level functions */
-
-vsllink_jtag_t* vsllink_usb_open(void)
+static int vsllink_tap_execute_dma(void)
 {
-	struct usb_bus *busses;
-	struct usb_bus *bus;
-	struct usb_device *dev;
-
-	vsllink_jtag_t *result;
-
-	result = (vsllink_jtag_t*) malloc(sizeof(vsllink_jtag_t));
+	int byte_length;
+	int i;
+	int result;
 
-	usb_init();
-	usb_find_busses();
-	usb_find_devices();
+	if (tap_length > 0)
+	{
+		/* Pad last byte so that tap_length is divisible by 8 */
+		while (tap_length % 8 != 0)
+		{
+			/* More of the last TMS value keeps us in the same state,
+			 * analogous to free-running JTAG interfaces. */
+			vsllink_tap_append_step(last_tms, 0);
+		}
+		byte_length = tap_length / 8;
 
-	busses = usb_get_busses();
+		vsllink_usb_out_buffer[0] = VSLLINK_CMD_HW_JTAGRAWCMD;
+		vsllink_usb_out_buffer[1] = ((byte_length * 2 + 3) >> 0) & 0xff;		// package size
+		vsllink_usb_out_buffer[2] = ((byte_length * 2 + 3) >> 8) & 0xff;
 
-	/* find vsllink_jtag device in usb bus */
+		memcpy(&vsllink_usb_out_buffer[3], tdi_buffer, byte_length);
+		memcpy(&vsllink_usb_out_buffer[3 + byte_length], tms_buffer, byte_length);
 
-	for (bus = busses; bus; bus = bus->next)
-	{
-		for (dev = bus->devices; dev; dev = dev->next)
+		result = vsllink_usb_message(vsllink_handle, 3 + 2 * byte_length, byte_length);
+		if (result == byte_length)
 		{
-			if ((dev->descriptor.idVendor == vsllink_vid) && (dev->descriptor.idProduct == vsllink_pid))
+			for (i = 0; i < pending_scan_results_length; i++)
 			{
-				result->usb_handle = usb_open(dev);
+				struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
+				uint8_t *buffer = pending_scan_result->buffer;
+				int length = pending_scan_result->length;
+				int first = pending_scan_result->offset;
 
-				/* usb_set_configuration required under win32 */
-				usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
-				usb_claim_interface(result->usb_handle, 0);
+				struct scan_command *command = pending_scan_result->command;
+				buf_set_buf(vsllink_usb_in_buffer, first, buffer, 0, length);
 
-#if 0
-				/*
-				 * This makes problems under Mac OS X. And is not needed
-				 * under Windows. Hopefully this will not break a linux build
-				 */
-				usb_set_altinterface(result->usb_handle, 0);
+				DEBUG_JTAG_IO("JTAG scan read(%d bits, from %d bits):", length, first);
+#ifdef _DEBUG_JTAG_IO_
+				vsllink_debug_buffer(buffer, (length + 7) >> 3);
 #endif
-				return result;
+
+				if (jtag_read_buffer(buffer, command) != ERROR_OK)
+				{
+					vsllink_tap_init();
+					return ERROR_JTAG_QUEUE_FAILED;
+				}
+
+				if (pending_scan_result->buffer != NULL)
+				{
+					free(pending_scan_result->buffer);
+				}
 			}
 		}
+		else
+		{
+			LOG_ERROR("vsllink_tap_execute, wrong result %d, expected %d", result, byte_length);
+			return ERROR_JTAG_QUEUE_FAILED;
+		}
+
+		vsllink_tap_init();
 	}
 
-	free(result);
-	return NULL;
+	return ERROR_OK;
 }
 
-static void vsllink_usb_close(vsllink_jtag_t *vsllink_jtag)
+/*****************************************************************************/
+/* VSLLink USB low-level functions */
+
+static struct vsllink* vsllink_usb_open(void)
 {
-	usb_close(vsllink_jtag->usb_handle);
-	free(vsllink_jtag);
+	usb_init();
+
+	const uint16_t vids[] = { vsllink_usb_vid, 0 };
+	const uint16_t pids[] = { vsllink_usb_pid, 0 };
+	struct usb_dev_handle *dev;
+	if (jtag_usb_open(vids, pids, &dev) != ERROR_OK)
+		return NULL;
+
+	/* usb_set_configuration required under win32 */
+	struct usb_device *udev = usb_device(dev);
+	int ret = usb_set_configuration(dev, udev->config[0].bConfigurationValue);
+	if (ret != 0)
+	{
+		LOG_ERROR("fail to set configuration to %d (error %d)."
+				"Not enough permissions for the device?",
+				udev->config[0].bConfigurationValue, ret);
+		return NULL;
+	}
+	ret = usb_claim_interface(dev, vsllink_usb_interface);
+	if (ret != 0)
+	{
+		LOG_ERROR("fail to claim interface %d, %d returned",
+				vsllink_usb_interface, ret);
+		return NULL;
+	}
+#if 0
+	/*
+	* This makes problems under Mac OS X. And is not needed
+	* under Windows. Hopefully this will not break a linux build
+	*/
+	usb_set_altinterface(dev, 0);
+#endif
+
+	struct vsllink *result = malloc(sizeof(struct vsllink));
+	result->usb_handle = dev;
+	return result;
+}
+
+static void vsllink_usb_close(struct vsllink *vsllink)
+{
+	int ret;
+
+	ret = usb_release_interface(vsllink->usb_handle, vsllink_usb_interface);
+	if (ret != 0)
+	{
+		LOG_ERROR("fail to release interface %d, %d returned", vsllink_usb_interface, ret);
+		exit(-1);
+	}
+
+	ret = usb_close(vsllink->usb_handle);
+	if (ret != 0)
+	{
+		LOG_ERROR("fail to close usb, %d returned", ret);
+		exit(-1);
+	}
+
+	free(vsllink);
 }
 
 /* Send a message and receive the reply. */
-static int vsllink_usb_message(vsllink_jtag_t *vsllink_jtag, int out_length, int in_length)
+static int vsllink_usb_message(struct vsllink *vsllink, int out_length, int in_length)
 {
 	int result;
 
-	result = vsllink_usb_write(vsllink_jtag, out_length);
+	result = vsllink_usb_write(vsllink, out_length);
 	if (result == out_length)
 	{
 		if (in_length > 0)
 		{
-			result = vsllink_usb_read(vsllink_jtag);
-			if (result == in_length )
+			result = vsllink_usb_read(vsllink);
+			if (result == in_length)
 			{
 				return result;
 			}
@@ -1389,17 +1791,17 @@ static int vsllink_usb_message(vsllink_jtag_t *vsllink_jtag, int out_length, int
 }
 
 /* Write data from out_buffer to USB. */
-static int vsllink_usb_write(vsllink_jtag_t *vsllink_jtag, int out_length)
+static int vsllink_usb_write(struct vsllink *vsllink, int out_length)
 {
 	int result;
 
 	if (out_length > VSLLINK_BufferSize)
 	{
-		LOG_ERROR("vsllink_jtag_write illegal out_length=%d (max=%d)", out_length, VSLLINK_BufferSize);
+		LOG_ERROR("vsllink_write illegal out_length=%d (max=%d)", out_length, VSLLINK_BufferSize);
 		return -1;
 	}
 
-	result = usb_bulk_write(vsllink_jtag->usb_handle, vsllink_bulkout, \
+	result = usb_bulk_write(vsllink->usb_handle, vsllink_usb_bulkout, \
 		(char *)vsllink_usb_out_buffer, out_length, VSLLINK_USB_TIMEOUT);
 
 	DEBUG_JTAG_IO("vsllink_usb_write, out_length = %d, result = %d", out_length, result);
@@ -1417,9 +1819,9 @@ static int vsllink_usb_write(vsllink_jtag_t *vsllink_jtag, int out_length)
 }
 
 /* Read data from USB into in_buffer. */
-static int vsllink_usb_read(vsllink_jtag_t *vsllink_jtag)
+static int vsllink_usb_read(struct vsllink *vsllink)
 {
-	int result = usb_bulk_read(vsllink_jtag->usb_handle, vsllink_bulkin, \
+	int result = usb_bulk_read(vsllink->usb_handle, vsllink_usb_bulkin, \
 		(char *)vsllink_usb_in_buffer, VSLLINK_BufferSize, VSLLINK_USB_TIMEOUT);
 
 	DEBUG_JTAG_IO("vsllink_usb_read, result = %d", result);
@@ -1433,8 +1835,8 @@ static int vsllink_usb_read(vsllink_jtag_t *vsllink_jtag)
 
 #define BYTES_PER_LINE  16
 
-#ifdef _DEBUG_USB_COMMS_
-static void vsllink_debug_buffer(u8 *buffer, int length)
+#if defined _DEBUG_USB_COMMS_ || defined _DEBUG_JTAG_IO_
+static void vsllink_debug_buffer(uint8_t *buffer, int length)
 {
 	char line[81];
 	char s[4];
@@ -1449,7 +1851,53 @@ static void vsllink_debug_buffer(u8 *buffer, int length)
 			snprintf(s, 4, " %02x", buffer[j]);
 			strcat(line, s);
 		}
-		LOG_DEBUG(line);
+		LOG_DEBUG("%s", line);
 	}
 }
-#endif // _DEBUG_USB_COMMS_
+#endif // _DEBUG_USB_COMMS_ || _DEBUG_JTAG_IO_
+
+static const struct command_registration vsllink_command_handlers[] = {
+	{
+		.name = "vsllink_usb_vid",
+		.handler = &vsllink_handle_usb_vid_command,
+		.mode = COMMAND_CONFIG,
+	},
+	{
+		.name = "vsllink_usb_pid",
+		.handler = &vsllink_handle_usb_pid_command,
+		.mode = COMMAND_CONFIG,
+	},
+	{
+		.name = "vsllink_usb_bulkin",
+		.handler = &vsllink_handle_usb_bulkin_command,
+		.mode = COMMAND_CONFIG,
+	},
+	{
+		.name = "vsllink_usb_bulkout",
+		.handler = &vsllink_handle_usb_bulkout_command,
+		.mode = COMMAND_CONFIG,
+	},
+	{
+		.name = "vsllink_usb_interface",
+		.handler = &vsllink_handle_usb_interface_command,
+		.mode = COMMAND_CONFIG,
+	},
+	{
+		.name = "vsllink_mode",
+		.handler = &vsllink_handle_mode_command,
+		.mode = COMMAND_CONFIG,
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
+struct jtag_interface vsllink_interface = {
+		.name = "vsllink",
+		.commands = vsllink_command_handlers,
+
+		.init = &vsllink_init,
+		.quit = &vsllink_quit,
+		.khz = &vsllink_khz,
+		.speed = &vsllink_speed,
+		.speed_div = &vsllink_speed_div,
+		.execute_queue = &vsllink_execute_queue,
+	};