command: fix the mode for command "jtag configure"
[openocd.git] / src / jtag / tcl.c
index 75732ef..7683014 100644 (file)
@@ -2,7 +2,7 @@
  *   Copyright (C) 2005 by Dominic Rath                                    *
  *   Dominic.Rath@gmx.de                                                   *
  *                                                                         *
- *   Copyright (C) 2007,2008 Øyvind Harboe                                 *
+ *   Copyright (C) 2007-2010 Øyvind Harboe                                 *
  *   oyvind.harboe@zylin.com                                               *
  *                                                                         *
  *   Copyright (C) 2009 SoftPLC Corporation                                *
  *   GNU General Public License for more details.                          *
  *                                                                         *
  *   You should have received a copy of the GNU General Public License     *
- *   along with this program; if not, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  ***************************************************************************/
+
 #ifdef HAVE_CONFIG_H
 #include "config.h"
 #endif
 
 #include "jtag.h"
+#include "swd.h"
 #include "minidriver.h"
 #include "interface.h"
 #include "interfaces.h"
+#include "tcl.h"
 
 #ifdef HAVE_STRINGS_H
 #include <strings.h>
 #endif
 
+#include <helper/time_support.h>
+#include "transport/transport.h"
+
+/**
+ * @file
+ * Holds support for accessing JTAG-specific mechanisms from TCl scripts.
+ */
+
 static const Jim_Nvp nvp_jtag_tap_event[] = {
-       { .value = JTAG_TRST_ASSERTED,          .name = "post-reset" },
-       { .value = JTAG_TAP_EVENT_SETUP,        .name = "setup" },
+       { .value = JTAG_TRST_ASSERTED,          .name = "post-reset" },
+       { .value = JTAG_TAP_EVENT_SETUP,        .name = "setup" },
        { .value = JTAG_TAP_EVENT_ENABLE,       .name = "tap-enable" },
        { .value = JTAG_TAP_EVENT_DISABLE,      .name = "tap-disable" },
 
        { .name = NULL, .value = -1 }
 };
 
-extern struct jtag_interface *jtag_interface;
+struct jtag_tap *jtag_tap_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
+{
+       const char *cp = Jim_GetString(o, NULL);
+       struct jtag_tap *t = cp ? jtag_tap_by_string(cp) : NULL;
+       if (NULL == cp)
+               cp = "(unknown)";
+       if (NULL == t)
+               Jim_SetResultFormatted(interp, "Tap '%s' could not be found", cp);
+       return t;
+}
+
+static bool scan_is_safe(tap_state_t state)
+{
+       switch (state) {
+           case TAP_RESET:
+           case TAP_IDLE:
+           case TAP_DRPAUSE:
+           case TAP_IRPAUSE:
+                   return true;
+           default:
+                   return false;
+       }
+}
+
+static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args)
+{
+       int retval;
+       struct scan_field *fields;
+       int num_fields;
+       int field_count = 0;
+       int i, e;
+       struct jtag_tap *tap;
+       tap_state_t endstate;
+
+       /* args[1] = device
+        * args[2] = num_bits
+        * args[3] = hex string
+        * ... repeat num bits and hex string ...
+        *
+        * .. optionally:
+       *     args[N-2] = "-endstate"
+        *     args[N-1] = statename
+        */
+       if ((argc < 4) || ((argc % 2) != 0)) {
+               Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
+               return JIM_ERR;
+       }
+
+       endstate = TAP_IDLE;
+
+       script_debug(interp, "drscan", argc, args);
+
+       /* validate arguments as numbers */
+       e = JIM_OK;
+       for (i = 2; i < argc; i += 2) {
+               long bits;
+               const char *cp;
+
+               e = Jim_GetLong(interp, args[i], &bits);
+               /* If valid - try next arg */
+               if (e == JIM_OK)
+                       continue;
+
+               /* Not valid.. are we at the end? */
+               if (((i + 2) != argc)) {
+                       /* nope, then error */
+                       return e;
+               }
+
+               /* it could be: "-endstate FOO"
+                * e.g. DRPAUSE so we can issue more instructions
+                * before entering RUN/IDLE and executing them.
+                */
+
+               /* get arg as a string. */
+               cp = Jim_GetString(args[i], NULL);
+               /* is it the magic? */
+               if (0 == strcmp("-endstate", cp)) {
+                       /* is the statename valid? */
+                       cp = Jim_GetString(args[i + 1], NULL);
+
+                       /* see if it is a valid state name */
+                       endstate = tap_state_by_name(cp);
+                       if (endstate < 0) {
+                               /* update the error message */
+                               Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
+                       } else {
+                               if (!scan_is_safe(endstate))
+                                       LOG_WARNING("drscan with unsafe "
+                                               "endstate \"%s\"", cp);
+
+                               /* valid - so clear the error */
+                               e = JIM_OK;
+                               /* and remove the last 2 args */
+                               argc -= 2;
+                       }
+               }
+
+               /* Still an error? */
+               if (e != JIM_OK)
+                       return e;       /* too bad */
+       }       /* validate args */
+
+       assert(e == JIM_OK);
+
+       tap = jtag_tap_by_jim_obj(interp, args[1]);
+       if (tap == NULL)
+               return JIM_ERR;
+
+       num_fields = (argc-2)/2;
+       if (num_fields <= 0) {
+               Jim_SetResultString(interp, "drscan: no scan fields supplied", -1);
+               return JIM_ERR;
+       }
+       fields = malloc(sizeof(struct scan_field) * num_fields);
+       for (i = 2; i < argc; i += 2) {
+               long bits;
+               int len;
+               const char *str;
+
+               Jim_GetLong(interp, args[i], &bits);
+               str = Jim_GetString(args[i + 1], &len);
+
+               fields[field_count].num_bits = bits;
+               void *t = malloc(DIV_ROUND_UP(bits, 8));
+               fields[field_count].out_value = t;
+               str_to_buf(str, len, t, bits, 0);
+               fields[field_count].in_value = t;
+               field_count++;
+       }
+
+       jtag_add_dr_scan(tap, num_fields, fields, endstate);
+
+       retval = jtag_execute_queue();
+       if (retval != ERROR_OK) {
+               Jim_SetResultString(interp, "drscan: jtag execute failed", -1);
+               return JIM_ERR;
+       }
+
+       field_count = 0;
+       Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
+       for (i = 2; i < argc; i += 2) {
+               long bits;
+               char *str;
+
+               Jim_GetLong(interp, args[i], &bits);
+               str = buf_to_str(fields[field_count].in_value, bits, 16);
+               free(fields[field_count].in_value);
+
+               Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
+               free(str);
+               field_count++;
+       }
+
+       Jim_SetResult(interp, list);
+
+       free(fields);
+
+       return JIM_OK;
+}
+
+
+static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *args)
+{
+       tap_state_t states[8];
+
+       if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1))) {
+               Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
+               return JIM_ERR;
+       }
+
+       script_debug(interp, "pathmove", argc, args);
+
+       int i;
+       for (i = 0; i < argc-1; i++) {
+               const char *cp;
+               cp = Jim_GetString(args[i + 1], NULL);
+               states[i] = tap_state_by_name(cp);
+               if (states[i] < 0) {
+                       /* update the error message */
+                       Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
+                       return JIM_ERR;
+               }
+       }
+
+       if ((jtag_add_statemove(states[0]) != ERROR_OK) || (jtag_execute_queue() != ERROR_OK)) {
+               Jim_SetResultString(interp, "pathmove: jtag execute failed", -1);
+               return JIM_ERR;
+       }
+
+       jtag_add_pathmove(argc - 2, states + 1);
+
+       if (jtag_execute_queue() != ERROR_OK) {
+               Jim_SetResultString(interp, "pathmove: failed", -1);
+               return JIM_ERR;
+       }
+
+       return JIM_OK;
+}
+
+
+static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const *args)
+{
+       script_debug(interp, "flush_count", argc, args);
+
+       Jim_SetResult(interp, Jim_NewIntObj(interp, jtag_get_flush_queue_count()));
+
+       return JIM_OK;
+}
+
+/* REVISIT Just what about these should "move" ... ?
+ * These registrations, into the main JTAG table?
+ *
+ * There's a minor compatibility issue, these all show up twice;
+ * that's not desirable:
+ *  - jtag drscan ... NOT DOCUMENTED!
+ *  - drscan ...
+ *
+ * The "irscan" command (for example) doesn't show twice.
+ */
+static const struct command_registration jtag_command_handlers_to_move[] = {
+       {
+               .name = "drscan",
+               .mode = COMMAND_EXEC,
+               .jim_handler = Jim_Command_drscan,
+               .help = "Execute Data Register (DR) scan for one TAP.  "
+                       "Other TAPs must be in BYPASS mode.",
+               .usage = "tap_name [num_bits value]* ['-endstate' state_name]",
+       },
+       {
+               .name = "flush_count",
+               .mode = COMMAND_EXEC,
+               .jim_handler = Jim_Command_flush_count,
+               .help = "Returns the number of times the JTAG queue "
+                       "has been flushed.",
+       },
+       {
+               .name = "pathmove",
+               .mode = COMMAND_EXEC,
+               .jim_handler = Jim_Command_pathmove,
+               .usage = "start_state state1 [state2 [state3 ...]]",
+               .help = "Move JTAG state machine from current state "
+                       "(start_state) to state1, then state2, state3, etc.",
+       },
+       COMMAND_REGISTRATION_DONE
+};
+
 
 enum jtag_tap_cfg_param {
        JCFG_EVENT
@@ -61,17 +316,83 @@ static Jim_Nvp nvp_config_opts[] = {
        { .name = NULL,          .value = -1 }
 };
 
-static int jtag_tap_configure_cmd(Jim_GetOptInfo *goi, struct jtag_tap * tap)
+static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 {
+       if (goi->argc == 0) {
+               Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name> ...");
+               return JIM_ERR;
+       }
+
        Jim_Nvp *n;
-       Jim_Obj *o;
-       int e;
+       int e = Jim_GetOpt_Nvp(goi, nvp_jtag_tap_event, &n);
+       if (e != JIM_OK) {
+               Jim_GetOpt_NvpUnknown(goi, nvp_jtag_tap_event, 1);
+               return e;
+       }
+
+       if (goi->isconfigure) {
+               if (goi->argc != 1) {
+                       Jim_WrongNumArgs(goi->interp,
+                               goi->argc,
+                               goi->argv,
+                               "-event <event-name> <event-body>");
+                       return JIM_ERR;
+               }
+       } else {
+               if (goi->argc != 0) {
+                       Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name>");
+                       return JIM_ERR;
+               }
+       }
+
+       struct jtag_tap_event_action *jteap  = tap->event_action;
+       /* replace existing event body */
+       bool found = false;
+       while (jteap) {
+               if (jteap->event == (enum jtag_event)n->value) {
+                       found = true;
+                       break;
+               }
+               jteap = jteap->next;
+       }
+
+       Jim_SetEmptyResult(goi->interp);
+
+       if (goi->isconfigure) {
+               if (!found)
+                       jteap = calloc(1, sizeof(*jteap));
+               else if (NULL != jteap->body)
+                       Jim_DecrRefCount(goi->interp, jteap->body);
+
+               jteap->interp = goi->interp;
+               jteap->event = n->value;
 
+               Jim_Obj *o;
+               Jim_GetOpt_Obj(goi, &o);
+               jteap->body = Jim_DuplicateObj(goi->interp, o);
+               Jim_IncrRefCount(jteap->body);
+
+               if (!found) {
+                       /* add to head of event list */
+                       jteap->next = tap->event_action;
+                       tap->event_action = jteap;
+               }
+       } else if (found) {
+               jteap->interp = goi->interp;
+               Jim_SetResult(goi->interp,
+                       Jim_DuplicateObj(goi->interp, jteap->body));
+       }
+       return JIM_OK;
+}
+
+static int jtag_tap_configure_cmd(Jim_GetOptInfo *goi, struct jtag_tap *tap)
+{
        /* parse config or cget options */
        while (goi->argc > 0) {
-               Jim_SetEmptyResult (goi->interp);
+               Jim_SetEmptyResult(goi->interp);
 
-               e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
+               Jim_Nvp *n;
+               int e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
                if (e != JIM_OK) {
                        Jim_GetOpt_NvpUnknown(goi, nvp_config_opts, 0);
                        return e;
@@ -79,76 +400,15 @@ static int jtag_tap_configure_cmd(Jim_GetOptInfo *goi, struct jtag_tap * tap)
 
                switch (n->value) {
                        case JCFG_EVENT:
-                               if (goi->argc == 0) {
-                                       Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event ?event-name? ...");
-                                       return JIM_ERR;
-                               }
-
-                               e = Jim_GetOpt_Nvp(goi, nvp_jtag_tap_event, &n);
-                               if (e != JIM_OK) {
-                                       Jim_GetOpt_NvpUnknown(goi, nvp_jtag_tap_event, 1);
+                               e = jtag_tap_configure_event(goi, tap);
+                               if (e != JIM_OK)
                                        return e;
-                               }
-
-                               if (goi->isconfigure) {
-                                       if (goi->argc != 1) {
-                                               Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event ?event-name? ?EVENT-BODY?");
-                                               return JIM_ERR;
-                                       }
-                               } else {
-                                       if (goi->argc != 0) {
-                                               Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event ?event-name?");
-                                               return JIM_ERR;
-                                       }
-                               }
-
-                               {
-                                       struct jtag_tap_event_action *jteap;
-
-                                       jteap = tap->event_action;
-                                       /* replace existing? */
-                                       while (jteap) {
-                                               if (jteap->event == (enum jtag_event)n->value) {
-                                                       break;
-                                               }
-                                               jteap = jteap->next;
-                                       }
-
-                                       if (goi->isconfigure) {
-                                               bool replace = true;
-                                               if (jteap == NULL) {
-                                                       /* create new */
-                                                       jteap = calloc(1, sizeof (*jteap));
-                                                       replace = false;
-                                               }
-                                               jteap->event = n->value;
-                                               Jim_GetOpt_Obj(goi, &o);
-                                               if (jteap->body) {
-                                                       Jim_DecrRefCount(interp, jteap->body);
-                                               }
-                                               jteap->body = Jim_DuplicateObj(goi->interp, o);
-                                               Jim_IncrRefCount(jteap->body);
-
-                                               if (!replace)
-                                               {
-                                                       /* add to head of event list */
-                                                       jteap->next = tap->event_action;
-                                                       tap->event_action = jteap;
-                                               }
-                                               Jim_SetEmptyResult(goi->interp);
-                                       } else {
-                                               /* get */
-                                               if (jteap == NULL) {
-                                                       Jim_SetEmptyResult(goi->interp);
-                                               } else {
-                                                       Jim_SetResult(goi->interp, Jim_DuplicateObj(goi->interp, jteap->body));
-                                               }
-                                       }
-                               }
-                               /* loop for more */
                                break;
+                       default:
+                               Jim_SetResultFormatted(goi->interp, "unknown event: %s", n->name);
+                               return JIM_ERR;
                }
-       } /* while (goi->argc) */
+       }
 
        return JIM_OK;
 }
@@ -163,33 +423,104 @@ static int is_bad_irval(int ir_length, jim_wide w)
        return (w & v) != 0;
 }
 
-static int jim_newtap_cmd(Jim_GetOptInfo *goi)
+static int jim_newtap_expected_id(Jim_Nvp *n, Jim_GetOptInfo *goi,
+       struct jtag_tap *pTap)
 {
-       struct jtag_tap *pTap;
        jim_wide w;
-       int x;
-       int e;
-       Jim_Nvp *n;
-       char *cp;
-       const Jim_Nvp opts[] = {
+       int e = Jim_GetOpt_Wide(goi, &w);
+       if (e != JIM_OK) {
+               Jim_SetResultFormatted(goi->interp, "option: %s bad parameter", n->name);
+               return e;
+       }
+
+       uint32_t *p = realloc(pTap->expected_ids,
+                             (pTap->expected_ids_cnt + 1) * sizeof(uint32_t));
+       if (!p) {
+               Jim_SetResultFormatted(goi->interp, "no memory");
+               return JIM_ERR;
+       }
+
+       pTap->expected_ids = p;
+       pTap->expected_ids[pTap->expected_ids_cnt++] = w;
+
+       return JIM_OK;
+}
+
 #define NTAP_OPT_IRLEN     0
-               { .name = "-irlen"                      ,       .value = NTAP_OPT_IRLEN },
 #define NTAP_OPT_IRMASK    1
-               { .name = "-irmask"                     ,       .value = NTAP_OPT_IRMASK },
 #define NTAP_OPT_IRCAPTURE 2
-               { .name = "-ircapture"          ,       .value = NTAP_OPT_IRCAPTURE },
 #define NTAP_OPT_ENABLED   3
-               { .name = "-enable"                     ,       .value = NTAP_OPT_ENABLED },
 #define NTAP_OPT_DISABLED  4
-               { .name = "-disable"            ,       .value = NTAP_OPT_DISABLED },
 #define NTAP_OPT_EXPECTED_ID 5
-               { .name = "-expected-id"        ,       .value = NTAP_OPT_EXPECTED_ID },
-               { .name = NULL                          ,       .value = -1 },
+#define NTAP_OPT_VERSION   6
+
+static int jim_newtap_ir_param(Jim_Nvp *n, Jim_GetOptInfo *goi,
+       struct jtag_tap *pTap)
+{
+       jim_wide w;
+       int e = Jim_GetOpt_Wide(goi, &w);
+       if (e != JIM_OK) {
+               Jim_SetResultFormatted(goi->interp,
+                       "option: %s bad parameter", n->name);
+               return e;
+       }
+       switch (n->value) {
+           case NTAP_OPT_IRLEN:
+                   if (w > (jim_wide) (8 * sizeof(pTap->ir_capture_value))) {
+                           LOG_WARNING("%s: huge IR length %d",
+                                   pTap->dotted_name, (int) w);
+                   }
+                   pTap->ir_length = w;
+                   break;
+           case NTAP_OPT_IRMASK:
+                   if (is_bad_irval(pTap->ir_length, w)) {
+                           LOG_ERROR("%s: IR mask %x too big",
+                                   pTap->dotted_name,
+                                   (int) w);
+                           return JIM_ERR;
+                   }
+                   if ((w & 3) != 3)
+                           LOG_WARNING("%s: nonstandard IR mask", pTap->dotted_name);
+                   pTap->ir_capture_mask = w;
+                   break;
+           case NTAP_OPT_IRCAPTURE:
+                   if (is_bad_irval(pTap->ir_length, w)) {
+                           LOG_ERROR("%s: IR capture %x too big",
+                                   pTap->dotted_name, (int) w);
+                           return JIM_ERR;
+                   }
+                   if ((w & 3) != 1)
+                           LOG_WARNING("%s: nonstandard IR value",
+                                   pTap->dotted_name);
+                   pTap->ir_capture_value = w;
+                   break;
+           default:
+                   return JIM_ERR;
+       }
+       return JIM_OK;
+}
+
+static int jim_newtap_cmd(Jim_GetOptInfo *goi)
+{
+       struct jtag_tap *pTap;
+       int x;
+       int e;
+       Jim_Nvp *n;
+       char *cp;
+       const Jim_Nvp opts[] = {
+               { .name = "-irlen",       .value = NTAP_OPT_IRLEN },
+               { .name = "-irmask",       .value = NTAP_OPT_IRMASK },
+               { .name = "-ircapture",       .value = NTAP_OPT_IRCAPTURE },
+               { .name = "-enable",       .value = NTAP_OPT_ENABLED },
+               { .name = "-disable",       .value = NTAP_OPT_DISABLED },
+               { .name = "-expected-id",       .value = NTAP_OPT_EXPECTED_ID },
+               { .name = "-ignore-version",       .value = NTAP_OPT_VERSION },
+               { .name = NULL,       .value = -1 },
        };
 
        pTap = calloc(1, sizeof(struct jtag_tap));
        if (!pTap) {
-               Jim_SetResult_sprintf(goi->interp, "no memory");
+               Jim_SetResultFormatted(goi->interp, "no memory");
                return JIM_ERR;
        }
 
@@ -197,15 +528,17 @@ static int jim_newtap_cmd(Jim_GetOptInfo *goi)
         * we expect CHIP + TAP + OPTIONS
         * */
        if (goi->argc < 3) {
-               Jim_SetResult_sprintf(goi->interp, "Missing CHIP TAP OPTIONS ....");
+               Jim_SetResultFormatted(goi->interp, "Missing CHIP TAP OPTIONS ....");
                free(pTap);
                return JIM_ERR;
        }
-       Jim_GetOpt_String(goi, &cp, NULL);
-       pTap->chip = strdup(cp);
 
-       Jim_GetOpt_String(goi, &cp, NULL);
-       pTap->tapname = strdup(cp);
+       const char *tmp;
+       Jim_GetOpt_String(goi, &tmp, NULL);
+       pTap->chip = strdup(tmp);
+
+       Jim_GetOpt_String(goi, &tmp, NULL);
+       pTap->tapname = strdup(tmp);
 
        /* name + dot + name + null */
        x = strlen(pTap->chip) + 1 + strlen(pTap->tapname) + 1;
@@ -214,10 +547,17 @@ static int jim_newtap_cmd(Jim_GetOptInfo *goi)
        pTap->dotted_name = cp;
 
        LOG_DEBUG("Creating New Tap, Chip: %s, Tap: %s, Dotted: %s, %d params",
-                         pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);
+               pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);
+
+       if (!transport_is_jtag()) {
+               /* SWD doesn't require any JTAG tap parameters */
+               pTap->enabled = true;
+               jtag_tap_init(pTap);
+               return JIM_OK;
+       }
 
        /* IEEE specifies that the two LSBs of an IR scan are 01, so make
-        * that the default.  The "-irlen" and "-irmask" options are only
+        * that the default.  The "-ircapture" and "-irmask" options are only
         * needed to cope with nonstandard TAPs, or to specify more bits.
         */
        pTap->ir_capture_mask = 0x03;
@@ -227,773 +567,457 @@ static int jim_newtap_cmd(Jim_GetOptInfo *goi)
                e = Jim_GetOpt_Nvp(goi, opts, &n);
                if (e != JIM_OK) {
                        Jim_GetOpt_NvpUnknown(goi, opts, 0);
-                       free((void *)pTap->dotted_name);
+                       free(cp);
                        free(pTap);
                        return e;
                }
                LOG_DEBUG("Processing option: %s", n->name);
                switch (n->value) {
-               case NTAP_OPT_ENABLED:
-                       pTap->disabled_after_reset = false;
-                       break;
-               case NTAP_OPT_DISABLED:
-                       pTap->disabled_after_reset = true;
-                       break;
-               case NTAP_OPT_EXPECTED_ID:
-               {
-                       uint32_t *new_expected_ids;
-
-                       e = Jim_GetOpt_Wide(goi, &w);
-                       if (e != JIM_OK) {
-                               Jim_SetResult_sprintf(goi->interp, "option: %s bad parameter", n->name);
-                               free((void *)pTap->dotted_name);
-                               free(pTap);
-                               return e;
-                       }
-
-                       new_expected_ids = malloc(sizeof(uint32_t) * (pTap->expected_ids_cnt + 1));
-                       if (new_expected_ids == NULL) {
-                               Jim_SetResult_sprintf(goi->interp, "no memory");
-                               free((void *)pTap->dotted_name);
-                               free(pTap);
-                               return JIM_ERR;
-                       }
-
-                       memcpy(new_expected_ids, pTap->expected_ids, sizeof(uint32_t) * pTap->expected_ids_cnt);
-
-                       new_expected_ids[pTap->expected_ids_cnt] = w;
-
-                       free(pTap->expected_ids);
-                       pTap->expected_ids = new_expected_ids;
-                       pTap->expected_ids_cnt++;
-                       break;
-               }
-               case NTAP_OPT_IRLEN:
-               case NTAP_OPT_IRMASK:
-               case NTAP_OPT_IRCAPTURE:
-                       e = Jim_GetOpt_Wide(goi, &w);
-                       if (e != JIM_OK) {
-                               Jim_SetResult_sprintf(goi->interp, "option: %s bad parameter", n->name);
-                               free((void *)pTap->dotted_name);
-                               free(pTap);
-                               return e;
-                       }
-                       switch (n->value) {
-                       case NTAP_OPT_IRLEN:
-                               if (w > (jim_wide) (8 * sizeof(pTap->ir_capture_value)))
-                                       LOG_WARNING("%s: huge IR length %d",
-                                                       pTap->dotted_name,
-                                                       (int) w);
-                               pTap->ir_length = w;
-                               break;
-                       case NTAP_OPT_IRMASK:
-                               if (is_bad_irval(pTap->ir_length, w)) {
-                                       LOG_ERROR("%s: IR mask %x too big",
-                                                       pTap->dotted_name,
-                                                       (int) w);
-                                       free((void *)pTap->dotted_name);
-                                       free(pTap);
-                                       return ERROR_FAIL;
-                               }
-                               if ((w & 3) != 3)
-                                       LOG_WARNING("%s: nonstandard IR mask",
-                                                       pTap->dotted_name);
-                               pTap->ir_capture_mask = w;
-                               break;
-                       case NTAP_OPT_IRCAPTURE:
-                               if (is_bad_irval(pTap->ir_length, w)) {
-                                       LOG_ERROR("%s: IR capture %x too big",
-                                                       pTap->dotted_name,
-                                                       (int) w);
-                                       free((void *)pTap->dotted_name);
-                                       free(pTap);
-                                       return ERROR_FAIL;
-                               }
-                               if ((w & 3) != 1)
-                                       LOG_WARNING("%s: nonstandard IR value",
-                                                       pTap->dotted_name);
-                               pTap->ir_capture_value = w;
-                               break;
-                       }
-               } /* switch (n->value) */
-       } /* while (goi->argc) */
+                   case NTAP_OPT_ENABLED:
+                           pTap->disabled_after_reset = false;
+                           break;
+                   case NTAP_OPT_DISABLED:
+                           pTap->disabled_after_reset = true;
+                           break;
+                   case NTAP_OPT_EXPECTED_ID:
+                           e = jim_newtap_expected_id(n, goi, pTap);
+                           if (JIM_OK != e) {
+                                   free(cp);
+                                   free(pTap);
+                                   return e;
+                           }
+                           break;
+                   case NTAP_OPT_IRLEN:
+                   case NTAP_OPT_IRMASK:
+                   case NTAP_OPT_IRCAPTURE:
+                           e = jim_newtap_ir_param(n, goi, pTap);
+                           if (JIM_OK != e) {
+                                   free(cp);
+                                   free(pTap);
+                                   return e;
+                           }
+                           break;
+                   case NTAP_OPT_VERSION:
+                           pTap->ignore_version = true;
+                           break;
+               }       /* switch (n->value) */
+       }       /* while (goi->argc) */
 
        /* default is enabled-after-reset */
        pTap->enabled = !pTap->disabled_after_reset;
 
        /* Did all the required option bits get cleared? */
-       if (pTap->ir_length != 0)
-       {
+       if (pTap->ir_length != 0) {
                jtag_tap_init(pTap);
-               return ERROR_OK;
+               return JIM_OK;
        }
 
-       Jim_SetResult_sprintf(goi->interp,
-                       "newtap: %s missing IR length",
-                       pTap->dotted_name);
+       Jim_SetResultFormatted(goi->interp,
+               "newtap: %s missing IR length",
+               pTap->dotted_name);
        jtag_tap_free(pTap);
        return JIM_ERR;
 }
 
 static void jtag_tap_handle_event(struct jtag_tap *tap, enum jtag_event e)
 {
-       struct jtag_tap_event_action * jteap;
+       struct jtag_tap_event_action *jteap;
 
        for (jteap = tap->event_action; jteap != NULL; jteap = jteap->next) {
-               if (jteap->event == e) {
-                       LOG_DEBUG("JTAG tap: %s event: %d (%s)\n\taction: %s",
-                                       tap->dotted_name,
-                                       e,
-                                       Jim_Nvp_value2name_simple(nvp_jtag_tap_event, e)->name,
-                                       Jim_GetString(jteap->body, NULL));
-                       if (Jim_EvalObj(interp, jteap->body) != JIM_OK) {
-                               Jim_PrintErrorMessage(interp);
-                       } else switch (e) {
-                       case JTAG_TAP_EVENT_ENABLE:
-                       case JTAG_TAP_EVENT_DISABLE:
+               if (jteap->event != e)
+                       continue;
+
+               Jim_Nvp *nvp = Jim_Nvp_value2name_simple(nvp_jtag_tap_event, e);
+               LOG_DEBUG("JTAG tap: %s event: %d (%s)\n\taction: %s",
+                       tap->dotted_name, e, nvp->name,
+                       Jim_GetString(jteap->body, NULL));
+
+               if (Jim_EvalObj(jteap->interp, jteap->body) != JIM_OK) {
+                       Jim_MakeErrorMessage(jteap->interp);
+                       LOG_USER("%s", Jim_GetString(Jim_GetResult(jteap->interp), NULL));
+                       continue;
+               }
+
+               switch (e) {
+                   case JTAG_TAP_EVENT_ENABLE:
+                   case JTAG_TAP_EVENT_DISABLE:
                                /* NOTE:  we currently assume the handlers
                                 * can't fail.  Right here is where we should
                                 * really be verifying the scan chains ...
                                 */
-                               tap->enabled = (e == JTAG_TAP_EVENT_ENABLE);
-                               LOG_INFO("JTAG tap: %s %s", tap->dotted_name,
-                                       tap->enabled ? "enabled" : "disabled");
-                               break;
-                       default:
-                               break;
-                       }
+                           tap->enabled = (e == JTAG_TAP_EVENT_ENABLE);
+                           LOG_INFO("JTAG tap: %s %s", tap->dotted_name,
+                               tap->enabled ? "enabled" : "disabled");
+                           break;
+                   default:
+                           break;
                }
        }
 }
 
-
-static int jim_jtag_command(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
        Jim_GetOptInfo goi;
-       int e;
-       Jim_Nvp *n;
-       Jim_Obj *o;
-       struct command_context *context;
-
-       enum {
-               JTAG_CMD_INTERFACE,
-               JTAG_CMD_INIT,
-               JTAG_CMD_INIT_RESET,
-               JTAG_CMD_NEWTAP,
-               JTAG_CMD_TAPENABLE,
-               JTAG_CMD_TAPDISABLE,
-               JTAG_CMD_TAPISENABLED,
-               JTAG_CMD_CONFIGURE,
-               JTAG_CMD_CGET,
-               JTAG_CMD_NAMES,
-       };
-
-       const Jim_Nvp jtag_cmds[] = {
-               { .name = "interface"     , .value = JTAG_CMD_INTERFACE },
-               { .name = "arp_init"      , .value = JTAG_CMD_INIT },
-               { .name = "arp_init-reset", .value = JTAG_CMD_INIT_RESET },
-               { .name = "newtap"        , .value = JTAG_CMD_NEWTAP },
-               { .name = "tapisenabled"     , .value = JTAG_CMD_TAPISENABLED },
-               { .name = "tapenable"     , .value = JTAG_CMD_TAPENABLE },
-               { .name = "tapdisable"    , .value = JTAG_CMD_TAPDISABLE },
-               { .name = "configure"     , .value = JTAG_CMD_CONFIGURE },
-               { .name = "cget"          , .value = JTAG_CMD_CGET },
-               { .name = "names"         , .value = JTAG_CMD_NAMES },
-
-               { .name = NULL, .value = -1 },
-       };
-
-       context = Jim_GetAssocData(interp, "context");
-       /* go past the command */
        Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
+       if (goi.argc != 0) {
+               Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
+               return JIM_ERR;
+       }
+       struct command_context *context = current_command_context(interp);
+       int e = jtag_init_inner(context);
+       if (e != ERROR_OK) {
+               Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
+               Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
+               Jim_FreeNewObj(goi.interp, eObj);
+               return JIM_ERR;
+       }
+       return JIM_OK;
+}
 
-       e = Jim_GetOpt_Nvp(&goi, jtag_cmds, &n);
-       if (e != JIM_OK) {
-               Jim_GetOpt_NvpUnknown(&goi, jtag_cmds, 0);
-               return e;
+static int jim_jtag_arp_init_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+       int e = ERROR_OK;
+       Jim_GetOptInfo goi;
+       Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
+       if (goi.argc != 0) {
+               Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
+               return JIM_ERR;
        }
-               Jim_SetEmptyResult(goi.interp);
-       switch (n->value) {
-       case JTAG_CMD_INTERFACE:
-               /* return the name of the interface */
-               /* TCL code might need to know the exact type... */
-               /* FUTURE: we allow this as a means to "set" the interface. */
-               if (goi.argc != 0) {
-                       Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
-                       return JIM_ERR;
-               }
-               const char *name = jtag_interface ? jtag_interface->name : NULL;
-               Jim_SetResultString(goi.interp, name ? : "undefined", -1);
-               return JIM_OK;
-       case JTAG_CMD_INIT:
-               if (goi.argc != 0) {
-                       Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
-                       return JIM_ERR;
-               }
-               e = jtag_init_inner(context);
-               if (e != ERROR_OK) {
-                       Jim_SetResult_sprintf(goi.interp, "error: %d", e);
-                       return JIM_ERR;
-               }
-               return JIM_OK;
-       case JTAG_CMD_INIT_RESET:
-               if (goi.argc != 0) {
-                       Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
-                       return JIM_ERR;
-               }
+       struct command_context *context = current_command_context(interp);
+       if (transport_is_jtag())
                e = jtag_init_reset(context);
-               if (e != ERROR_OK) {
-                       Jim_SetResult_sprintf(goi.interp, "error: %d", e);
-                       return JIM_ERR;
-               }
-               return JIM_OK;
-       case JTAG_CMD_NEWTAP:
-               return jim_newtap_cmd(&goi);
-               break;
-       case JTAG_CMD_TAPISENABLED:
-       case JTAG_CMD_TAPENABLE:
-       case JTAG_CMD_TAPDISABLE:
-               if (goi.argc != 1) {
-                       Jim_SetResultString(goi.interp, "Too many parameters",-1);
-                       return JIM_ERR;
-               }
-
-               {
-                       struct jtag_tap *t;
+       else if (transport_is_swd())
+               e = swd_init_reset(context);
 
-                       t = jtag_tap_by_jim_obj(goi.interp, goi.argv[0]);
-                       if (t == NULL)
-                               return JIM_ERR;
+       if (e != ERROR_OK) {
+               Jim_Obj *eObj = Jim_NewIntObj(goi.interp, e);
+               Jim_SetResultFormatted(goi.interp, "error: %#s", eObj);
+               Jim_FreeNewObj(goi.interp, eObj);
+               return JIM_ERR;
+       }
+       return JIM_OK;
+}
 
-                       switch (n->value) {
-                       case JTAG_CMD_TAPISENABLED:
-                               break;
-                       case JTAG_CMD_TAPENABLE:
-                               if (t->enabled)
-                                       break;
-                               jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
-                               if (!t->enabled)
-                                       break;
-
-                               /* FIXME add JTAG sanity checks, w/o TLR
-                                *  - scan chain length grew by one (this)
-                                *  - IDs and IR lengths are as expected
-                                */
+int jim_jtag_newtap(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+       Jim_GetOptInfo goi;
+       Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
+       return jim_newtap_cmd(&goi);
+}
 
-                               jtag_call_event_callbacks(JTAG_TAP_EVENT_ENABLE);
-                               break;
-                       case JTAG_CMD_TAPDISABLE:
-                               if (!t->enabled)
-                                       break;
-                               jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
-                               if (t->enabled)
-                                       break;
-
-                               /* FIXME add JTAG sanity checks, w/o TLR
-                                *  - scan chain length shrank by one (this)
-                                *  - IDs and IR lengths are as expected
-                                */
+static bool jtag_tap_enable(struct jtag_tap *t)
+{
+       if (t->enabled)
+               return false;
+       jtag_tap_handle_event(t, JTAG_TAP_EVENT_ENABLE);
+       if (!t->enabled)
+               return false;
 
-                               jtag_call_event_callbacks(JTAG_TAP_EVENT_DISABLE);
-                               break;
-                       }
-                       e = t->enabled;
-                       Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
-                       return JIM_OK;
-               }
-               break;
+       /* FIXME add JTAG sanity checks, w/o TLR
+        *  - scan chain length grew by one (this)
+        *  - IDs and IR lengths are as expected
+        */
+       jtag_call_event_callbacks(JTAG_TAP_EVENT_ENABLE);
+       return true;
+}
+static bool jtag_tap_disable(struct jtag_tap *t)
+{
+       if (!t->enabled)
+               return false;
+       jtag_tap_handle_event(t, JTAG_TAP_EVENT_DISABLE);
+       if (t->enabled)
+               return false;
 
-       case JTAG_CMD_CGET:
-               if (goi.argc < 2) {
-                       Jim_WrongNumArgs(goi.interp, 0, NULL,
-                                       "cget tap_name queryparm");
-                       return JIM_ERR;
-               }
+       /* FIXME add JTAG sanity checks, w/o TLR
+        *  - scan chain length shrank by one (this)
+        *  - IDs and IR lengths are as expected
+        */
+       jtag_call_event_callbacks(JTAG_TAP_EVENT_DISABLE);
+       return true;
+}
 
-               {
-                       struct jtag_tap *t;
+int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+       const char *cmd_name = Jim_GetString(argv[0], NULL);
+       Jim_GetOptInfo goi;
+       Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
+       if (goi.argc != 1) {
+               Jim_SetResultFormatted(goi.interp, "usage: %s <name>", cmd_name);
+               return JIM_ERR;
+       }
 
-                       Jim_GetOpt_Obj(&goi, &o);
-                       t = jtag_tap_by_jim_obj(goi.interp, o);
-                       if (t == NULL) {
-                               return JIM_ERR;
-                       }
+       struct jtag_tap *t;
 
-                       goi.isconfigure = 0;
-                       return jtag_tap_configure_cmd(&goi, t);
-               }
-               break;
+       t = jtag_tap_by_jim_obj(goi.interp, goi.argv[0]);
+       if (t == NULL)
+               return JIM_ERR;
 
-       case JTAG_CMD_CONFIGURE:
-               if (goi.argc < 3) {
-                       Jim_WrongNumArgs(goi.interp, 0, NULL,
-                                       "configure tap_name attribute value ...");
+       if (strcasecmp(cmd_name, "tapisenabled") == 0) {
+               /* do nothing, just return the value */
+       } else if (strcasecmp(cmd_name, "tapenable") == 0) {
+               if (!jtag_tap_enable(t)) {
+                       LOG_WARNING("failed to enable tap %s", t->dotted_name);
                        return JIM_ERR;
                }
-
-               {
-                       struct jtag_tap *t;
-
-                       Jim_GetOpt_Obj(&goi, &o);
-                       t = jtag_tap_by_jim_obj(goi.interp, o);
-                       if (t == NULL) {
-                               return JIM_ERR;
-                       }
-
-                       goi.isconfigure = 1;
-                       return jtag_tap_configure_cmd(&goi, t);
-               }
-               break;
-
-       case JTAG_CMD_NAMES:
-               if (goi.argc != 0) {
-                       Jim_WrongNumArgs(goi.interp, 1, goi.argv, "Too many parameters");
+       } else if (strcasecmp(cmd_name, "tapdisable") == 0) {
+               if (!jtag_tap_disable(t)) {
+                       LOG_WARNING("failed to disable tap %s", t->dotted_name);
                        return JIM_ERR;
                }
-               Jim_SetResult(goi.interp, Jim_NewListObj(goi.interp, NULL, 0));
-               {
-                       struct jtag_tap *tap;
-
-                       for (tap = jtag_all_taps(); tap; tap = tap->next_tap) {
-                               Jim_ListAppendElement(goi.interp,
-                                       Jim_GetResult(goi.interp),
-                                       Jim_NewStringObj(goi.interp,
-                                               tap->dotted_name, -1));
-                       }
-                       return JIM_OK;
-               }
-               break;
-
+       } else {
+               LOG_ERROR("command '%s' unknown", cmd_name);
+               return JIM_ERR;
        }
-
-       return JIM_ERR;
+       bool e = t->enabled;
+       Jim_SetResult(goi.interp, Jim_NewIntObj(goi.interp, e));
+       return JIM_OK;
 }
 
-
-void jtag_notify_event(enum jtag_event event)
+int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       struct jtag_tap *tap;
-
-       for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
-               jtag_tap_handle_event(tap, event);
-}
+       const char *cmd_name = Jim_GetString(argv[0], NULL);
+       Jim_GetOptInfo goi;
+       Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
+       goi.isconfigure = !strcmp(cmd_name, "configure");
+       if (goi.argc < 2 + goi.isconfigure) {
+               Jim_WrongNumArgs(goi.interp, 0, NULL,
+                       "<tap_name> <attribute> ...");
+               return JIM_ERR;
+       }
 
+       struct jtag_tap *t;
 
-static int default_khz(int khz, int *jtag_speed)
-{
-       LOG_ERROR("Translation from khz to jtag_speed not implemented");
-       return ERROR_FAIL;
-}
+       Jim_Obj *o;
+       Jim_GetOpt_Obj(&goi, &o);
+       t = jtag_tap_by_jim_obj(goi.interp, o);
+       if (t == NULL)
+               return JIM_ERR;
 
-static int default_speed_div(int speed, int *khz)
-{
-       LOG_ERROR("Translation from jtag_speed to khz not implemented");
-       return ERROR_FAIL;
+       return jtag_tap_configure_cmd(&goi, t);
 }
 
-static int default_power_dropout(int *dropout)
+static int jim_jtag_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       *dropout = 0; /* by default we can't detect power dropout */
-       return ERROR_OK;
-}
+       Jim_GetOptInfo goi;
+       Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
+       if (goi.argc != 0) {
+               Jim_WrongNumArgs(goi.interp, 1, goi.argv, "Too many parameters");
+               return JIM_ERR;
+       }
+       Jim_SetResult(goi.interp, Jim_NewListObj(goi.interp, NULL, 0));
+       struct jtag_tap *tap;
 
-static int default_srst_asserted(int *srst_asserted)
-{
-       *srst_asserted = 0; /* by default we can't detect srst asserted */
-       return ERROR_OK;
+       for (tap = jtag_all_taps(); tap; tap = tap->next_tap) {
+               Jim_ListAppendElement(goi.interp,
+                       Jim_GetResult(goi.interp),
+                       Jim_NewStringObj(goi.interp,
+                               tap->dotted_name, -1));
+       }
+       return JIM_OK;
 }
 
-COMMAND_HANDLER(handle_interface_list_command)
+COMMAND_HANDLER(handle_jtag_init_command)
 {
-       if (strcmp(CMD_NAME, "interface_list") == 0 && argc > 0)
+       if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       command_print(cmd_ctx, "The following JTAG interfaces are available:");
-       for (unsigned i = 0; NULL != jtag_interfaces[i]; i++)
-       {
-               const char *name = jtag_interfaces[i]->name;
-               command_print(cmd_ctx, "%u: %s", i + 1, name);
+       static bool jtag_initialized;
+       if (jtag_initialized) {
+               LOG_INFO("'jtag init' has already been called");
+               return ERROR_OK;
        }
+       jtag_initialized = true;
 
-       return ERROR_OK;
+       LOG_DEBUG("Initializing jtag devices...");
+       return jtag_init(CMD_CTX);
 }
 
-COMMAND_HANDLER(handle_interface_command)
-{
-       /* check whether the interface is already configured */
-       if (jtag_interface)
+static const struct command_registration jtag_subcommand_handlers[] = {
        {
-               LOG_WARNING("Interface already configured, ignoring");
-               return ERROR_OK;
-       }
-
-       /* interface name is a mandatory argument */
-       if (argc != 1 || args[0][0] == '\0')
-               return ERROR_COMMAND_SYNTAX_ERROR;
-
-       for (unsigned i = 0; NULL != jtag_interfaces[i]; i++)
+               .name = "init",
+               .mode = COMMAND_ANY,
+               .handler = handle_jtag_init_command,
+               .help = "initialize jtag scan chain",
+               .usage = ""
+       },
        {
-               if (strcmp(args[0], jtag_interfaces[i]->name) != 0)
-                       continue;
-
-               int retval = jtag_interfaces[i]->register_commands(cmd_ctx);
-               if (ERROR_OK != retval)
-                               return retval;
-
-               jtag_interface = jtag_interfaces[i];
-
-               if (jtag_interface->khz == NULL)
-                       jtag_interface->khz = default_khz;
-               if (jtag_interface->speed_div == NULL)
-                       jtag_interface->speed_div = default_speed_div;
-               if (jtag_interface->power_dropout == NULL)
-                       jtag_interface->power_dropout = default_power_dropout;
-               if (jtag_interface->srst_asserted == NULL)
-                       jtag_interface->srst_asserted = default_srst_asserted;
+               .name = "arp_init",
+               .mode = COMMAND_ANY,
+               .jim_handler = jim_jtag_arp_init,
+               .help = "Validates JTAG scan chain against the list of "
+                       "declared TAPs using just the four standard JTAG "
+                       "signals.",
+       },
+       {
+               .name = "arp_init-reset",
+               .mode = COMMAND_ANY,
+               .jim_handler = jim_jtag_arp_init_reset,
+               .help = "Uses TRST and SRST to try resetting everything on "
+                       "the JTAG scan chain, then performs 'jtag arp_init'."
+       },
+       {
+               .name = "newtap",
+               .mode = COMMAND_CONFIG,
+               .jim_handler = jim_jtag_newtap,
+               .help = "Create a new TAP instance named basename.tap_type, "
+                       "and appends it to the scan chain.",
+               .usage = "basename tap_type '-irlen' count "
+                       "['-enable'|'-disable'] "
+                       "['-expected_id' number] "
+                       "['-ignore-version'] "
+                       "['-ircapture' number] "
+                       "['-mask' number] ",
+       },
+       {
+               .name = "tapisenabled",
+               .mode = COMMAND_EXEC,
+               .jim_handler = jim_jtag_tap_enabler,
+               .help = "Returns a Tcl boolean (0/1) indicating whether "
+                       "the TAP is enabled (1) or not (0).",
+               .usage = "tap_name",
+       },
+       {
+               .name = "tapenable",
+               .mode = COMMAND_EXEC,
+               .jim_handler = jim_jtag_tap_enabler,
+               .help = "Try to enable the specified TAP using the "
+                       "'tap-enable' TAP event.",
+               .usage = "tap_name",
+       },
+       {
+               .name = "tapdisable",
+               .mode = COMMAND_EXEC,
+               .jim_handler = jim_jtag_tap_enabler,
+               .help = "Try to disable the specified TAP using the "
+                       "'tap-disable' TAP event.",
+               .usage = "tap_name",
+       },
+       {
+               .name = "configure",
+               .mode = COMMAND_ANY,
+               .jim_handler = jim_jtag_configure,
+               .help = "Provide a Tcl handler for the specified "
+                       "TAP event.",
+               .usage = "tap_name '-event' event_name handler",
+       },
+       {
+               .name = "cget",
+               .mode = COMMAND_EXEC,
+               .jim_handler = jim_jtag_configure,
+               .help = "Return any Tcl handler for the specified "
+                       "TAP event.",
+               .usage = "tap_name '-event' event_name",
+       },
+       {
+               .name = "names",
+               .mode = COMMAND_ANY,
+               .jim_handler = jim_jtag_names,
+               .help = "Returns list of all JTAG tap names.",
+       },
+       {
+               .chain = jtag_command_handlers_to_move,
+       },
+       COMMAND_REGISTRATION_DONE
+};
 
-               return ERROR_OK;
-       }
+void jtag_notify_event(enum jtag_event event)
+{
+       struct jtag_tap *tap;
 
-       /* no valid interface was found (i.e. the configuration option,
-        * didn't match one of the compiled-in interfaces
-        */
-       LOG_ERROR("The specified JTAG interface was not found (%s)", args[0]);
-       CALL_COMMAND_HANDLER(handle_interface_list_command);
-       return ERROR_JTAG_INVALID_INTERFACE;
+       for (tap = jtag_all_taps(); tap; tap = tap->next_tap)
+               jtag_tap_handle_event(tap, event);
 }
 
+
 COMMAND_HANDLER(handle_scan_chain_command)
 {
        struct jtag_tap *tap;
+       char expected_id[12];
 
        tap = jtag_all_taps();
-       command_print(cmd_ctx, "     TapName            | Enabled |   IdCode      Expected    IrLen IrCap  IrMask Instr     ");
-       command_print(cmd_ctx, "---|--------------------|---------|------------|------------|------|------|------|---------");
+       command_print(CMD_CTX,
+               "   TapName             Enabled  IdCode     Expected   IrLen IrCap IrMask");
+       command_print(CMD_CTX,
+               "-- ------------------- -------- ---------- ---------- ----- ----- ------");
 
        while (tap) {
-               uint32_t expected, expected_mask, cur_instr, ii;
-               expected = buf_get_u32(tap->expected, 0, tap->ir_length);
-               expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
-               cur_instr = buf_get_u32(tap->cur_instr, 0, tap->ir_length);
-
-               command_print(cmd_ctx,
-                                         "%2d | %-18s |    %c    | 0x%08x | 0x%08x | 0x%02x | 0x%02x | 0x%02x | 0x%02x",
-                                         tap->abs_chain_position,
-                                         tap->dotted_name,
-                                         tap->enabled ? 'Y' : 'n',
-                                         (unsigned int)(tap->idcode),
-                                         (unsigned int)(tap->expected_ids_cnt > 0 ? tap->expected_ids[0] : 0),
-                                         (unsigned int)(tap->ir_length),
-                                         (unsigned int)(expected),
-                                         (unsigned int)(expected_mask),
-                                         (unsigned int)(cur_instr));
+               uint32_t expected, expected_mask, ii;
 
-               for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
-                       command_print(cmd_ctx, "   |                    |         |            | 0x%08x |      |      |      |         ",
-                                                 (unsigned int)(tap->expected_ids[ii]));
-               }
-
-               tap = tap->next_tap;
-       }
-
-       return ERROR_OK;
-}
+               snprintf(expected_id, sizeof expected_id, "0x%08x",
+                       (unsigned)((tap->expected_ids_cnt > 0)
+                                  ? tap->expected_ids[0]
+                                  : 0));
+               if (tap->ignore_version)
+                       expected_id[2] = '*';
 
-COMMAND_HANDLER(handle_reset_config_command)
-{
-       int new_cfg = 0;
-       int mask = 0;
-
-       /* Original versions cared about the order of these tokens:
-        *   reset_config signals [combination [trst_type [srst_type]]]
-        * They also clobbered the previous configuration even on error.
-        *
-        * Here we don't care about the order, and only change values
-        * which have been explicitly specified.
-        */
-       for (; argc; argc--, args++) {
-               int tmp = 0;
-               int m;
-
-               /* gating */
-               m = RESET_SRST_NO_GATING;
-               if (strcmp(*args, "srst_gates_jtag") == 0)
-                       /* default: don't use JTAG while SRST asserted */;
-               else if (strcmp(*args, "srst_nogate") == 0)
-                       tmp = RESET_SRST_NO_GATING;
-               else
-                       m = 0;
-               if (mask & m) {
-                       LOG_ERROR("extra reset_config %s spec (%s)",
-                                       "gating", *args);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* signals */
-               m = RESET_HAS_TRST | RESET_HAS_SRST;
-               if (strcmp(*args, "none") == 0)
-                       tmp = RESET_NONE;
-               else if (strcmp(*args, "trst_only") == 0)
-                       tmp = RESET_HAS_TRST;
-               else if (strcmp(*args, "srst_only") == 0)
-                       tmp = RESET_HAS_SRST;
-               else if (strcmp(*args, "trst_and_srst") == 0)
-                       tmp = RESET_HAS_TRST | RESET_HAS_SRST;
-               else
-                       m = 0;
-               if (mask & m) {
-                       LOG_ERROR("extra reset_config %s spec (%s)",
-                                       "signal", *args);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* combination (options for broken wiring) */
-               m = RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
-               if (strcmp(*args, "separate") == 0)
-                       /* separate reset lines - default */;
-               else if (strcmp(*args, "srst_pulls_trst") == 0)
-                       tmp |= RESET_SRST_PULLS_TRST;
-               else if (strcmp(*args, "trst_pulls_srst") == 0)
-                       tmp |= RESET_TRST_PULLS_SRST;
-               else if (strcmp(*args, "combined") == 0)
-                       tmp |= RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
-               else
-                       m = 0;
-               if (mask & m) {
-                       LOG_ERROR("extra reset_config %s spec (%s)",
-                                       "combination", *args);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* trst_type (NOP without HAS_TRST) */
-               m = RESET_TRST_OPEN_DRAIN;
-               if (strcmp(*args, "trst_open_drain") == 0)
-                       tmp |= RESET_TRST_OPEN_DRAIN;
-               else if (strcmp(*args, "trst_push_pull") == 0)
-                       /* push/pull from adapter - default */;
-               else
-                       m = 0;
-               if (mask & m) {
-                       LOG_ERROR("extra reset_config %s spec (%s)",
-                                       "trst_type", *args);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* srst_type (NOP without HAS_SRST) */
-               m |= RESET_SRST_PUSH_PULL;
-               if (strcmp(*args, "srst_push_pull") == 0)
-                       tmp |= RESET_SRST_PUSH_PULL;
-               else if (strcmp(*args, "srst_open_drain") == 0)
-                       /* open drain from adapter - default */;
-               else
-                       m = 0;
-               if (mask & m) {
-                       LOG_ERROR("extra reset_config %s spec (%s)",
-                                       "srst_type", *args);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* caller provided nonsense; fail */
-               LOG_ERROR("unknown reset_config flag (%s)", *args);
-               return ERROR_INVALID_ARGUMENTS;
-
-next:
-               /* Remember the bits which were specified (mask)
-                * and their new values (new_cfg).
-                */
-               mask |= m;
-               new_cfg |= tmp;
-       }
-
-       /* clear previous values of those bits, save new values */
-       if (mask) {
-               int old_cfg = jtag_get_reset_config();
-
-               old_cfg &= ~mask;
-               new_cfg |= old_cfg;
-               jtag_set_reset_config(new_cfg);
-       } else
-               new_cfg = jtag_get_reset_config();
-
-
-       /*
-        * Display the (now-)current reset mode
-        */
-       char *modes[5];
-
-       /* minimal JTAG has neither SRST nor TRST (so that's the default) */
-       switch (new_cfg & (RESET_HAS_TRST | RESET_HAS_SRST)) {
-       case RESET_HAS_SRST:
-               modes[0] = "srst_only";
-               break;
-       case RESET_HAS_TRST:
-               modes[0] = "trst_only";
-               break;
-       case RESET_TRST_AND_SRST:
-               modes[0] = "trst_and_srst";
-               break;
-       default:
-               modes[0] = "none";
-               break;
-       }
-
-       /* normally SRST and TRST are decoupled; but bugs happen ... */
-       switch (new_cfg & (RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST)) {
-       case RESET_SRST_PULLS_TRST:
-               modes[1] = "srst_pulls_trst";
-               break;
-       case RESET_TRST_PULLS_SRST:
-               modes[1] = "trst_pulls_srst";
-               break;
-       case RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST:
-               modes[1] = "combined";
-               break;
-       default:
-               modes[1] = "separate";
-               break;
-       }
-
-       /* TRST-less connectors include Altera, Xilinx, and minimal JTAG */
-       if (new_cfg & RESET_HAS_TRST) {
-               if (new_cfg & RESET_TRST_OPEN_DRAIN)
-                       modes[3] = " trst_open_drain";
-               else
-                       modes[3] = " trst_push_pull";
-       } else
-               modes[3] = "";
-
-       /* SRST-less connectors include TI-14, Xilinx, and minimal JTAG */
-       if (new_cfg & RESET_HAS_SRST) {
-               if (new_cfg & RESET_SRST_NO_GATING)
-                       modes[2] = " srst_nogate";
-               else
-                       modes[2] = " srst_gates_jtag";
-
-               if (new_cfg & RESET_SRST_PUSH_PULL)
-                       modes[4] = " srst_push_pull";
-               else
-                       modes[4] = " srst_open_drain";
-       } else {
-               modes[2] = "";
-               modes[4] = "";
-       }
-
-       command_print(cmd_ctx, "%s %s%s%s%s",
-                       modes[0], modes[1],
-                       modes[2], modes[3], modes[4]);
-
-       return ERROR_OK;
-}
+               expected = buf_get_u32(tap->expected, 0, tap->ir_length);
+               expected_mask = buf_get_u32(tap->expected_mask, 0, tap->ir_length);
 
-COMMAND_HANDLER(handle_jtag_nsrst_delay_command)
-{
-       if (argc > 1)
-               return ERROR_COMMAND_SYNTAX_ERROR;
-       if (argc == 1)
-       {
-               unsigned delay;
-               COMMAND_PARSE_NUMBER(uint, args[0], delay);
+               command_print(CMD_CTX,
+                       "%2d %-18s     %c     0x%08x %s %5d 0x%02x  0x%02x",
+                       tap->abs_chain_position,
+                       tap->dotted_name,
+                       tap->enabled ? 'Y' : 'n',
+                       (unsigned int)(tap->idcode),
+                       expected_id,
+                       (unsigned int)(tap->ir_length),
+                       (unsigned int)(expected),
+                       (unsigned int)(expected_mask));
 
-               jtag_set_nsrst_delay(delay);
-       }
-       command_print(cmd_ctx, "jtag_nsrst_delay: %u", jtag_get_nsrst_delay());
-       return ERROR_OK;
-}
-
-COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
-{
-       if (argc > 1)
-               return ERROR_COMMAND_SYNTAX_ERROR;
-       if (argc == 1)
-       {
-               unsigned delay;
-               COMMAND_PARSE_NUMBER(uint, args[0], delay);
+               for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
+                       snprintf(expected_id, sizeof expected_id, "0x%08x",
+                               (unsigned) tap->expected_ids[ii]);
+                       if (tap->ignore_version)
+                               expected_id[2] = '*';
+
+                       command_print(CMD_CTX,
+                               "                                           %s",
+                               expected_id);
+               }
 
-               jtag_set_ntrst_delay(delay);
+               tap = tap->next_tap;
        }
-       command_print(cmd_ctx, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
+
        return ERROR_OK;
 }
 
-COMMAND_HANDLER(handle_jtag_nsrst_assert_width_command)
+COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
 {
-       if (argc > 1)
+       if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
-       if (argc == 1)
-       {
+       if (CMD_ARGC == 1) {
                unsigned delay;
-               COMMAND_PARSE_NUMBER(uint, args[0], delay);
+               COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 
-               jtag_set_nsrst_assert_width(delay);
+               jtag_set_ntrst_delay(delay);
        }
-       command_print(cmd_ctx, "jtag_nsrst_assert_width: %u", jtag_get_nsrst_assert_width());
+       command_print(CMD_CTX, "jtag_ntrst_delay: %u", jtag_get_ntrst_delay());
        return ERROR_OK;
 }
 
 COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
 {
-       if (argc > 1)
+       if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
-       if (argc == 1)
-       {
+       if (CMD_ARGC == 1) {
                unsigned delay;
-               COMMAND_PARSE_NUMBER(uint, args[0], delay);
+               COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 
                jtag_set_ntrst_assert_width(delay);
        }
-       command_print(cmd_ctx, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
+       command_print(CMD_CTX, "jtag_ntrst_assert_width: %u", jtag_get_ntrst_assert_width());
        return ERROR_OK;
 }
 
-COMMAND_HANDLER(handle_jtag_khz_command)
-{
-       if (argc > 1)
-               return ERROR_COMMAND_SYNTAX_ERROR;
-
-       int retval = ERROR_OK;
-       if (argc == 1)
-       {
-               unsigned khz = 0;
-               COMMAND_PARSE_NUMBER(uint, args[0], khz);
-
-               retval = jtag_config_khz(khz);
-               if (ERROR_OK != retval)
-                       return retval;
-       }
-
-       int cur_speed = jtag_get_speed_khz();
-       retval = jtag_get_speed_readable(&cur_speed);
-       if (ERROR_OK != retval)
-               return retval;
-
-       if (cur_speed)
-               command_print(cmd_ctx, "%d kHz", cur_speed);
-       else
-               command_print(cmd_ctx, "RCLK - adaptive");
-
-       return retval;
-}
-
 COMMAND_HANDLER(handle_jtag_rclk_command)
 {
-       if (argc > 1)
+       if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
        int retval = ERROR_OK;
-       if (argc == 1)
-       {
+       if (CMD_ARGC == 1) {
                unsigned khz = 0;
-               COMMAND_PARSE_NUMBER(uint, args[0], khz);
+               COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
 
                retval = jtag_config_rclk(khz);
                if (ERROR_OK != retval)
@@ -1006,35 +1030,35 @@ COMMAND_HANDLER(handle_jtag_rclk_command)
                return retval;
 
        if (cur_khz)
-               command_print(cmd_ctx, "RCLK not supported - fallback to %d kHz", cur_khz);
+               command_print(CMD_CTX, "RCLK not supported - fallback to %d kHz", cur_khz);
        else
-               command_print(cmd_ctx, "RCLK - adaptive");
+               command_print(CMD_CTX, "RCLK - adaptive");
 
        return retval;
 }
 
 COMMAND_HANDLER(handle_jtag_reset_command)
 {
-       if (argc != 2)
+       if (CMD_ARGC != 2)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
        int trst = -1;
-       if (args[0][0] == '1')
+       if (CMD_ARGV[0][0] == '1')
                trst = 1;
-       else if (args[0][0] == '0')
+       else if (CMD_ARGV[0][0] == '0')
                trst = 0;
        else
                return ERROR_COMMAND_SYNTAX_ERROR;
 
        int srst = -1;
-       if (args[1][0] == '1')
+       if (CMD_ARGV[1][0] == '1')
                srst = 1;
-       else if (args[1][0] == '0')
+       else if (CMD_ARGV[1][0] == '0')
                srst = 0;
        else
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (jtag_interface_init(cmd_ctx) != ERROR_OK)
+       if (adapter_init(CMD_CTX) != ERROR_OK)
                return ERROR_JTAG_INIT_FAILED;
 
        jtag_add_reset(trst, srst);
@@ -1043,11 +1067,11 @@ COMMAND_HANDLER(handle_jtag_reset_command)
 
 COMMAND_HANDLER(handle_runtest_command)
 {
-       if (argc != 1)
+       if (CMD_ARGC != 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
        unsigned num_clocks;
-       COMMAND_PARSE_NUMBER(uint, args[0], num_clocks);
+       COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], num_clocks);
 
        jtag_add_runtest(num_clocks, TAP_IDLE);
        return jtag_execute_queue();
@@ -1060,32 +1084,16 @@ COMMAND_HANDLER(handle_runtest_command)
  * Not surprisingly, this is the same constraint as SVF; the "irscan"
  * and "drscan" commands are a write-only subset of what SVF provides.
  */
-static bool scan_is_safe(tap_state_t state)
-{
-       switch (state)
-       {
-       case TAP_RESET:
-       case TAP_IDLE:
-       case TAP_DRPAUSE:
-       case TAP_IRPAUSE:
-               return true;
-       default:
-               return false;
-       }
-}
-
 
 COMMAND_HANDLER(handle_irscan_command)
 {
        int i;
        struct scan_field *fields;
-       struct jtag_tap *tap;
+       struct jtag_tap *tap = NULL;
        tap_state_t endstate;
 
-       if ((argc < 2) || (argc % 2))
-       {
+       if ((CMD_ARGC < 2) || (CMD_ARGC % 2))
                return ERROR_COMMAND_SYNTAX_ERROR;
-       }
 
        /* optional "-endstate" "statename" at the end of the arguments,
         * so that e.g. IRPAUSE can let us load the data register before
@@ -1093,412 +1101,288 @@ COMMAND_HANDLER(handle_irscan_command)
         */
        endstate = TAP_IDLE;
 
-       if (argc >= 4) {
-               /* have at least one pair of numbers. */
-               /* is last pair the magic text? */
-               if (strcmp("-endstate", args[argc - 2]) == 0) {
-                       endstate = tap_state_by_name(args[argc - 1]);
+       if (CMD_ARGC >= 4) {
+               /* have at least one pair of numbers.
+                * is last pair the magic text? */
+               if (strcmp("-endstate", CMD_ARGV[CMD_ARGC - 2]) == 0) {
+                       endstate = tap_state_by_name(CMD_ARGV[CMD_ARGC - 1]);
                        if (endstate == TAP_INVALID)
                                return ERROR_COMMAND_SYNTAX_ERROR;
                        if (!scan_is_safe(endstate))
                                LOG_WARNING("unstable irscan endstate \"%s\"",
-                                               args[argc - 1]);
-                       argc -= 2;
+                                       CMD_ARGV[CMD_ARGC - 1]);
+                       CMD_ARGC -= 2;
                }
        }
 
-       int num_fields = argc / 2;
-       size_t fields_len = sizeof(struct scan_field) * num_fields;
-       fields = malloc(fields_len);
-       memset(fields, 0, fields_len);
+       int num_fields = CMD_ARGC / 2;
+       if (num_fields > 1) {
+               /* we really should be looking at plain_ir_scan if we want
+                * anything more fancy.
+                */
+               LOG_ERROR("Specify a single value for tap");
+               return ERROR_COMMAND_SYNTAX_ERROR;
+       }
+
+       fields = calloc(num_fields, sizeof(*fields));
 
        int retval;
-       for (i = 0; i < num_fields; i++)
-       {
-               tap = jtag_tap_by_string(args[i*2]);
-               if (tap == NULL)
-               {
-                       int j;
-                       for (j = 0; j < i; j++)
-                               free(fields[j].out_value);
-                        free(fields);
-                       command_print(cmd_ctx, "Tap: %s unknown", args[i*2]);
+       for (i = 0; i < num_fields; i++) {
+               tap = jtag_tap_by_string(CMD_ARGV[i*2]);
+               if (tap == NULL) {
+                       free(fields);
+                       command_print(CMD_CTX, "Tap: %s unknown", CMD_ARGV[i*2]);
 
                        return ERROR_FAIL;
                }
                int field_size = tap->ir_length;
-               fields[i].tap = tap;
                fields[i].num_bits = field_size;
-               fields[i].out_value = malloc(CEIL(field_size, 8));
+               uint8_t *v = malloc(DIV_ROUND_UP(field_size, 8));
 
-               uint32_t value;
-               retval = parse_u32(args[i * 2 + 1], &value);
+               uint64_t value;
+               retval = parse_u64(CMD_ARGV[i * 2 + 1], &value);
                if (ERROR_OK != retval)
                        goto error_return;
-               buf_set_u32(fields[i].out_value, 0, field_size, value);
+               buf_set_u64(v, 0, field_size, value);
+               fields[i].out_value = v;
                fields[i].in_value = NULL;
        }
 
        /* did we have an endstate? */
-       jtag_add_ir_scan(num_fields, fields, endstate);
+       jtag_add_ir_scan(tap, fields, endstate);
 
        retval = jtag_execute_queue();
 
 error_return:
-       for (i = 0; i < num_fields; i++)
-       {
+       for (i = 0; i < num_fields; i++) {
                if (NULL != fields[i].out_value)
-                       free(fields[i].out_value);
+                       free((void *)fields[i].out_value);
        }
 
-       free (fields);
+       free(fields);
 
        return retval;
 }
 
-static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args)
+COMMAND_HANDLER(handle_verify_ircapture_command)
 {
-       int retval;
-       struct scan_field *fields;
-       int num_fields;
-       int field_count = 0;
-       int i, e;
-       struct jtag_tap *tap;
-       tap_state_t endstate;
-
-       /* args[1] = device
-        * args[2] = num_bits
-        * args[3] = hex string
-        * ... repeat num bits and hex string ...
-        *
-        * .. optionally:
-       *     args[N-2] = "-endstate"
-        *     args[N-1] = statename
-        */
-       if ((argc < 4) || ((argc % 2) != 0))
-       {
-               Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
-               return JIM_ERR;
-       }
-
-       endstate = TAP_IDLE;
-
-       script_debug(interp, "drscan", argc, args);
-
-       /* validate arguments as numbers */
-       e = JIM_OK;
-       for (i = 2; i < argc; i += 2)
-       {
-               long bits;
-               const char *cp;
-
-               e = Jim_GetLong(interp, args[i], &bits);
-               /* If valid - try next arg */
-               if (e == JIM_OK) {
-                       continue;
-               }
-
-               /* Not valid.. are we at the end? */
-               if (((i + 2) != argc)) {
-                       /* nope, then error */
-                       return e;
-               }
-
-               /* it could be: "-endstate FOO"
-                * e.g. DRPAUSE so we can issue more instructions
-                * before entering RUN/IDLE and executing them.
-                */
-
-               /* get arg as a string. */
-               cp = Jim_GetString(args[i], NULL);
-               /* is it the magic? */
-               if (0 == strcmp("-endstate", cp)) {
-                       /* is the statename valid? */
-                       cp = Jim_GetString(args[i + 1], NULL);
-
-                       /* see if it is a valid state name */
-                       endstate = tap_state_by_name(cp);
-                       if (endstate < 0) {
-                               /* update the error message */
-                               Jim_SetResult_sprintf(interp,"endstate: %s invalid", cp);
-                       } else {
-                               if (!scan_is_safe(endstate))
-                                       LOG_WARNING("drscan with unsafe "
-                                                       "endstate \"%s\"", cp);
-
-                               /* valid - so clear the error */
-                               e = JIM_OK;
-                               /* and remove the last 2 args */
-                               argc -= 2;
-                       }
-               }
-
-               /* Still an error? */
-               if (e != JIM_OK) {
-                       return e; /* too bad */
-               }
-       } /* validate args */
-
-       tap = jtag_tap_by_jim_obj(interp, args[1]);
-       if (tap == NULL) {
-               return JIM_ERR;
-       }
-
-       num_fields = (argc-2)/2;
-       fields = malloc(sizeof(struct scan_field) * num_fields);
-       for (i = 2; i < argc; i += 2)
-       {
-               long bits;
-               int len;
-               const char *str;
-
-               Jim_GetLong(interp, args[i], &bits);
-               str = Jim_GetString(args[i + 1], &len);
-
-               fields[field_count].tap = tap;
-               fields[field_count].num_bits = bits;
-               fields[field_count].out_value = malloc(CEIL(bits, 8));
-               str_to_buf(str, len, fields[field_count].out_value, bits, 0);
-               fields[field_count].in_value = fields[field_count].out_value;
-               field_count++;
-       }
-
-       jtag_add_dr_scan(num_fields, fields, endstate);
-
-       retval = jtag_execute_queue();
-       if (retval != ERROR_OK)
-       {
-               Jim_SetResultString(interp, "drscan: jtag execute failed",-1);
-               return JIM_ERR;
-       }
-
-       field_count = 0;
-       Jim_Obj *list = Jim_NewListObj(interp, NULL, 0);
-       for (i = 2; i < argc; i += 2)
-       {
-               long bits;
-               char *str;
-
-               Jim_GetLong(interp, args[i], &bits);
-               str = buf_to_str(fields[field_count].in_value, bits, 16);
-               free(fields[field_count].out_value);
+       if (CMD_ARGC > 1)
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-               Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
-               free(str);
-               field_count++;
+       if (CMD_ARGC == 1) {
+               bool enable;
+               COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
+               jtag_set_verify_capture_ir(enable);
        }
 
-       Jim_SetResult(interp, list);
-
-       free(fields);
+       const char *status = jtag_will_verify_capture_ir() ? "enabled" : "disabled";
+       command_print(CMD_CTX, "verify Capture-IR is %s", status);
 
-       return JIM_OK;
+       return ERROR_OK;
 }
 
-
-static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *args)
+COMMAND_HANDLER(handle_verify_jtag_command)
 {
-       tap_state_t states[8];
-
-       if ((argc < 2) || ((size_t)argc > (sizeof(states)/sizeof(*states) + 1)))
-       {
-               Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
-               return JIM_ERR;
-       }
-
-       script_debug(interp, "pathmove", argc, args);
-
-       int i;
-       for (i = 0; i < argc-1; i++)
-       {
-               const char *cp;
-               cp = Jim_GetString(args[i + 1], NULL);
-               states[i] = tap_state_by_name(cp);
-               if (states[i] < 0)
-               {
-                       /* update the error message */
-                       Jim_SetResult_sprintf(interp,"endstate: %s invalid", cp);
-                       return JIM_ERR;
-               }
-       }
-
-       if ((jtag_add_statemove(states[0]) != ERROR_OK) || (jtag_execute_queue()!= ERROR_OK))
-       {
-               Jim_SetResultString(interp, "pathmove: jtag execute failed",-1);
-               return JIM_ERR;
-       }
-
-       jtag_add_pathmove(argc-2, states + 1);
+       if (CMD_ARGC > 1)
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (jtag_execute_queue()!= ERROR_OK)
-       {
-               Jim_SetResultString(interp, "pathmove: failed",-1);
-               return JIM_ERR;
+       if (CMD_ARGC == 1) {
+               bool enable;
+               COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
+               jtag_set_verify(enable);
        }
 
-       return JIM_OK;
-}
-
-
-static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const *args)
-{
-       script_debug(interp, "flush_count", argc, args);
-
-       Jim_SetResult(interp, Jim_NewIntObj(interp, jtag_get_flush_queue_count()));
+       const char *status = jtag_will_verify() ? "enabled" : "disabled";
+       command_print(CMD_CTX, "verify jtag capture is %s", status);
 
-       return JIM_OK;
+       return ERROR_OK;
 }
 
-
-COMMAND_HANDLER(handle_verify_ircapture_command)
+COMMAND_HANDLER(handle_tms_sequence_command)
 {
-       if (argc > 1)
+       if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (argc == 1)
-       {
-               if (strcmp(args[0], "enable") == 0)
-                       jtag_set_verify_capture_ir(true);
-               else if (strcmp(args[0], "disable") == 0)
-                       jtag_set_verify_capture_ir(false);
+       if (CMD_ARGC == 1) {
+               bool use_new_table;
+               if (strcmp(CMD_ARGV[0], "short") == 0)
+                       use_new_table = true;
+               else if (strcmp(CMD_ARGV[0], "long") == 0)
+                       use_new_table = false;
                else
                        return ERROR_COMMAND_SYNTAX_ERROR;
+
+               tap_use_new_tms_table(use_new_table);
        }
 
-       const char *status = jtag_will_verify_capture_ir() ? "enabled": "disabled";
-       command_print(cmd_ctx, "verify Capture-IR is %s", status);
+       command_print(CMD_CTX, "tms sequence is  %s",
+               tap_uses_new_tms_table() ? "short" : "long");
 
        return ERROR_OK;
 }
 
-COMMAND_HANDLER(handle_verify_jtag_command)
+COMMAND_HANDLER(handle_jtag_flush_queue_sleep)
 {
-       if (argc > 1)
+       if (CMD_ARGC != 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (argc == 1)
-       {
-               if (strcmp(args[0], "enable") == 0)
-                       jtag_set_verify(true);
-               else if (strcmp(args[0], "disable") == 0)
-                       jtag_set_verify(false);
-               else
-                       return ERROR_COMMAND_SYNTAX_ERROR;
-       }
+       int sleep_ms;
+       COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], sleep_ms);
 
-       const char *status = jtag_will_verify() ? "enabled": "disabled";
-       command_print(cmd_ctx, "verify jtag capture is %s", status);
+       jtag_set_flush_queue_sleep(sleep_ms);
 
        return ERROR_OK;
 }
 
-COMMAND_HANDLER(handle_tms_sequence_command)
+COMMAND_HANDLER(handle_wait_srst_deassert)
 {
-       if (argc > 1)
+       if (CMD_ARGC != 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (argc == 1)
-       {
-               bool use_new_table;
-               if (strcmp(args[0], "short") == 0)
-                       use_new_table = true;
-               else if (strcmp(args[0], "long") == 0)
-                       use_new_table = false;
-               else
-                       return ERROR_COMMAND_SYNTAX_ERROR;
-
-               tap_use_new_tms_table(use_new_table);
+       int timeout_ms;
+       COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], timeout_ms);
+       if ((timeout_ms <= 0) || (timeout_ms > 100000)) {
+               LOG_ERROR("Timeout must be an integer between 0 and 100000");
+               return ERROR_FAIL;
        }
 
-       command_print(cmd_ctx, "tms sequence is  %s",
-                       tap_uses_new_tms_table() ? "short": "long");
+       LOG_USER("Waiting for srst assert + deassert for at most %dms", timeout_ms);
+       int asserted_yet;
+       int64_t then = timeval_ms();
+       while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
+               if ((timeval_ms() - then) > timeout_ms) {
+                       LOG_ERROR("Timed out");
+                       return ERROR_FAIL;
+               }
+               if (asserted_yet)
+                       break;
+       }
+       while (jtag_srst_asserted(&asserted_yet) == ERROR_OK) {
+               if ((timeval_ms() - then) > timeout_ms) {
+                       LOG_ERROR("Timed out");
+                       return ERROR_FAIL;
+               }
+               if (!asserted_yet)
+                       break;
+       }
 
        return ERROR_OK;
 }
 
-int jtag_register_commands(struct command_context *cmd_ctx)
-{
-       register_jim(cmd_ctx, "jtag", jim_jtag_command,
-                       "perform jtag tap actions");
-
-       register_command(cmd_ctx, NULL, "interface",
-                       handle_interface_command, COMMAND_CONFIG,
-                       "try to configure interface");
-       register_command(cmd_ctx, NULL, "interface_list",
-                       &handle_interface_list_command, COMMAND_ANY,
-                       "list all built-in interfaces");
-
-       register_command(cmd_ctx, NULL, "jtag_khz",
-                       handle_jtag_khz_command, COMMAND_ANY,
-                       "set maximum jtag speed (if supported); "
-                       "parameter is maximum khz, or 0 for adaptive clocking (RTCK).");
-       register_command(cmd_ctx, NULL, "jtag_rclk",
-                       handle_jtag_rclk_command, COMMAND_ANY,
-                       "fallback_speed_khz - set JTAG speed to RCLK or use fallback speed");
-       register_command(cmd_ctx, NULL, "reset_config",
-                       handle_reset_config_command, COMMAND_ANY,
-                       "reset_config "
-                       "[none|trst_only|srst_only|trst_and_srst] "
-                       "[srst_pulls_trst|trst_pulls_srst|combined|separate] "
-                       "[srst_gates_jtag|srst_nogate] "
-                       "[trst_push_pull|trst_open_drain] "
-                       "[srst_push_pull|srst_open_drain]");
-
-       register_command(cmd_ctx, NULL, "jtag_nsrst_delay",
-                       handle_jtag_nsrst_delay_command, COMMAND_ANY,
-                       "jtag_nsrst_delay <ms> "
-                       "- delay after deasserting srst in ms");
-       register_command(cmd_ctx, NULL, "jtag_ntrst_delay",
-                       handle_jtag_ntrst_delay_command, COMMAND_ANY,
-                       "jtag_ntrst_delay <ms> "
-                       "- delay after deasserting trst in ms");
-
-       register_command(cmd_ctx, NULL, "jtag_nsrst_assert_width",
-                       handle_jtag_nsrst_assert_width_command, COMMAND_ANY,
-                       "jtag_nsrst_assert_width <ms> "
-                       "- delay after asserting srst in ms");
-       register_command(cmd_ctx, NULL, "jtag_ntrst_assert_width",
-                       handle_jtag_ntrst_assert_width_command, COMMAND_ANY,
-                       "jtag_ntrst_assert_width <ms> "
-                       "- delay after asserting trst in ms");
-
-       register_command(cmd_ctx, NULL, "scan_chain",
-                       handle_scan_chain_command, COMMAND_EXEC,
-                       "print current scan chain configuration");
-
-       register_command(cmd_ctx, NULL, "jtag_reset",
-                       handle_jtag_reset_command, COMMAND_EXEC,
-                       "toggle reset lines <trst> <srst>");
-       register_command(cmd_ctx, NULL, "runtest",
-                       handle_runtest_command, COMMAND_EXEC,
-                       "move to Run-Test/Idle, and execute <num_cycles>");
-       register_command(cmd_ctx, NULL, "irscan",
-                       handle_irscan_command, COMMAND_EXEC,
-                       "execute IR scan <device> <instr> [dev2] [instr2] ...");
-
-       register_jim(cmd_ctx, "drscan", Jim_Command_drscan,
-                       "execute DR scan <device> "
-                       "<num_bits> <value> <num_bits1> <value2> ...");
-
-       register_jim(cmd_ctx, "flush_count", Jim_Command_flush_count,
-                       "returns number of times the JTAG queue has been flushed");
-
-       register_jim(cmd_ctx, "pathmove", Jim_Command_pathmove,
-                       "<state1>,<state2>,<state3>... "
-                       "- move JTAG to state1 then to state2, state3, etc.");
-
-       register_command(cmd_ctx, NULL, "verify_ircapture",
-                       handle_verify_ircapture_command, COMMAND_ANY,
-                       "verify value captured during Capture-IR <enable | disable>");
-       register_command(cmd_ctx, NULL, "verify_jtag",
-                       handle_verify_jtag_command, COMMAND_ANY,
-                       "verify value capture <enable | disable>");
-
-       register_command(cmd_ctx, NULL, "tms_sequence",
-                       handle_tms_sequence_command, COMMAND_ANY,
-                       "choose short(default) or long tms_sequence <short | long>");
+static const struct command_registration jtag_command_handlers[] = {
 
-       return ERROR_OK;
-}
+       {
+               .name = "jtag_flush_queue_sleep",
+               .handler = handle_jtag_flush_queue_sleep,
+               .mode = COMMAND_ANY,
+               .help = "For debug purposes(simulate long delays of interface) "
+                       "to test performance or change in behavior. Default 0ms.",
+               .usage = "[sleep in ms]",
+       },
+       {
+               .name = "jtag_rclk",
+               .handler = handle_jtag_rclk_command,
+               .mode = COMMAND_ANY,
+               .help = "With an argument, change to to use adaptive clocking "
+                       "if possible; else to use the fallback speed.  "
+                       "With or without argument, display current setting.",
+               .usage = "[fallback_speed_khz]",
+       },
+       {
+               .name = "jtag_ntrst_delay",
+               .handler = handle_jtag_ntrst_delay_command,
+               .mode = COMMAND_ANY,
+               .help = "delay after deasserting trst in ms",
+               .usage = "[milliseconds]",
+       },
+       {
+               .name = "jtag_ntrst_assert_width",
+               .handler = handle_jtag_ntrst_assert_width_command,
+               .mode = COMMAND_ANY,
+               .help = "delay after asserting trst in ms",
+               .usage = "[milliseconds]",
+       },
+       {
+               .name = "scan_chain",
+               .handler = handle_scan_chain_command,
+               .mode = COMMAND_ANY,
+               .help = "print current scan chain configuration",
+               .usage = ""
+       },
+       {
+               .name = "jtag_reset",
+               .handler = handle_jtag_reset_command,
+               .mode = COMMAND_EXEC,
+               .help = "Set reset line values.  Value '1' is active, "
+                       "value '0' is inactive.",
+               .usage = "trst_active srst_active",
+       },
+       {
+               .name = "runtest",
+               .handler = handle_runtest_command,
+               .mode = COMMAND_EXEC,
+               .help = "Move to Run-Test/Idle, and issue TCK for num_cycles.",
+               .usage = "num_cycles"
+       },
+       {
+               .name = "irscan",
+               .handler = handle_irscan_command,
+               .mode = COMMAND_EXEC,
+               .help = "Execute Instruction Register (DR) scan.  The "
+                       "specified opcodes are put into each TAP's IR, "
+                       "and other TAPs are put in BYPASS.",
+               .usage = "[tap_name instruction]* ['-endstate' state_name]",
+       },
+       {
+               .name = "verify_ircapture",
+               .handler = handle_verify_ircapture_command,
+               .mode = COMMAND_ANY,
+               .help = "Display or assign flag controlling whether to "
+                       "verify values captured during Capture-IR.",
+               .usage = "['enable'|'disable']",
+       },
+       {
+               .name = "verify_jtag",
+               .handler = handle_verify_jtag_command,
+               .mode = COMMAND_ANY,
+               .help = "Display or assign flag controlling whether to "
+                       "verify values captured during IR and DR scans.",
+               .usage = "['enable'|'disable']",
+       },
+       {
+               .name = "tms_sequence",
+               .handler = handle_tms_sequence_command,
+               .mode = COMMAND_ANY,
+               .help = "Display or change what style TMS sequences to use "
+                       "for JTAG state transitions:  short (default) or "
+                       "long.  Only for working around JTAG bugs.",
+               /* Specifically for working around DRIVER bugs... */
+               .usage = "['short'|'long']",
+       },
+       {
+               .name = "wait_srst_deassert",
+               .handler = handle_wait_srst_deassert,
+               .mode = COMMAND_ANY,
+               .help = "Wait for an SRST deassert. "
+                       "Useful for cases where you need something to happen within ms "
+                       "of an srst deassert. Timeout in ms ",
+               .usage = "ms",
+       },
+       {
+               .name = "jtag",
+               .mode = COMMAND_ANY,
+               .help = "perform jtag tap actions",
+               .usage = "",
 
+               .chain = jtag_subcommand_handlers,
+       },
+       {
+               .chain = jtag_command_handlers_to_move,
+       },
+       COMMAND_REGISTRATION_DONE
+};
 
+int jtag_register_commands(struct command_context *cmd_ctx)
+{
+       return register_commands(cmd_ctx, NULL, jtag_command_handlers);
+}