command: fix the mode for command "jtag configure"
[openocd.git] / src / jtag / tcl.c
index bb86a32..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;
+       switch (state) {
+           case TAP_RESET:
+           case TAP_IDLE:
+           case TAP_DRPAUSE:
+           case TAP_IRPAUSE:
+                   return true;
+           default:
+                   return false;
        }
 }
 
@@ -84,8 +101,7 @@ static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args
        *     args[N-2] = "-endstate"
         *     args[N-1] = statename
         */
-       if ((argc < 4) || ((argc % 2) != 0))
-       {
+       if ((argc < 4) || ((argc % 2) != 0)) {
                Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
                return JIM_ERR;
        }
@@ -96,16 +112,14 @@ static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args
 
        /* validate arguments as numbers */
        e = JIM_OK;
-       for (i = 2; i < argc; i += 2)
-       {
+       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) {
+               if (e == JIM_OK)
                        continue;
-               }
 
                /* Not valid.. are we at the end? */
                if (((i + 2) != argc)) {
@@ -129,11 +143,11 @@ static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args
                        endstate = tap_state_by_name(cp);
                        if (endstate < 0) {
                                /* update the error message */
-                               Jim_SetResult_sprintf(interp,"endstate: %s invalid", cp);
+                               Jim_SetResultFormatted(interp, "endstate: %s invalid", cp);
                        } else {
                                if (!scan_is_safe(endstate))
                                        LOG_WARNING("drscan with unsafe "
-                                                       "endstate \"%s\"", cp);
+                                               "endstate \"%s\"", cp);
 
                                /* valid - so clear the error */
                                e = JIM_OK;
@@ -143,20 +157,23 @@ static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args
                }
 
                /* Still an error? */
-               if (e != JIM_OK) {
-                       return e; /* too bad */
-               }
-       } /* validate args */
+               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) {
+       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)
-       {
+       for (i = 2; i < argc; i += 2) {
                long bits;
                int len;
                const char *str;
@@ -164,33 +181,31 @@ static int Jim_Command_drscan(Jim_Interp *interp, int argc, Jim_Obj *const *args
                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(DIV_ROUND_UP(bits, 8));
-               str_to_buf(str, len, fields[field_count].out_value, bits, 0);
-               fields[field_count].in_value = fields[field_count].out_value;
+               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(num_fields, fields, endstate);
+       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);
+       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)
-       {
+       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);
+               free(fields[field_count].in_value);
 
                Jim_ListAppendElement(interp, list, Jim_NewStringObj(interp, str, strlen(str)));
                free(str);
@@ -209,8 +224,7 @@ static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *ar
 {
        tap_state_t states[8];
 
-       if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1)))
-       {
+       if ((argc < 2) || ((size_t)argc > (ARRAY_SIZE(states) + 1))) {
                Jim_WrongNumArgs(interp, 1, args, "wrong arguments");
                return JIM_ERR;
        }
@@ -218,30 +232,26 @@ static int Jim_Command_pathmove(Jim_Interp *interp, int argc, Jim_Obj *const *ar
        script_debug(interp, "pathmove", argc, args);
 
        int i;
-       for (i = 0; i < argc-1; 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)
-               {
+               if (states[i] < 0) {
                        /* update the error message */
-                       Jim_SetResult_sprintf(interp,"endstate: %s invalid", cp);
+                       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);
+       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);
+       jtag_add_pathmove(argc - 2, states + 1);
 
-       if (jtag_execute_queue()!= ERROR_OK)
-       {
-               Jim_SetResultString(interp, "pathmove: failed",-1);
+       if (jtag_execute_queue() != ERROR_OK) {
+               Jim_SetResultString(interp, "pathmove: failed", -1);
                return JIM_ERR;
        }
 
@@ -258,26 +268,39 @@ static int Jim_Command_flush_count(Jim_Interp *interp, int argc, Jim_Obj *const
        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 DR scan <device> "
-                       "<num_bits> <value> <num_bits1> <value2> ...",
+               .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 number of times the JTAG queue has been flushed",
+               .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 = "<state1>,<state2>,<state3>... ",
-               .help = "move JTAG to state1 then to state2, state3, etc.",
+               .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
 };
@@ -293,25 +316,26 @@ static Jim_Nvp nvp_config_opts[] = {
        { .name = NULL,          .value = -1 }
 };
 
-static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap * tap)
+static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap *tap)
 {
-       if (goi->argc == 0)
-       {
+       if (goi->argc == 0) {
                Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-event <event-name> ...");
                return JIM_ERR;
        }
 
        Jim_Nvp *n;
        int e = Jim_GetOpt_Nvp(goi, nvp_jtag_tap_event, &n);
-       if (e != JIM_OK)
-       {
+       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>");
+                       Jim_WrongNumArgs(goi->interp,
+                               goi->argc,
+                               goi->argv,
+                               "-event <event-name> <event-body>");
                        return JIM_ERR;
                }
        } else {
@@ -324,10 +348,8 @@ static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap * tap)
        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)
-               {
+       while (jteap) {
+               if (jteap->event == (enum jtag_event)n->value) {
                        found = true;
                        break;
                }
@@ -336,13 +358,13 @@ static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap * tap)
 
        Jim_SetEmptyResult(goi->interp);
 
-       if (goi->isconfigure)
-       {
+       if (goi->isconfigure) {
                if (!found)
                        jteap = calloc(1, sizeof(*jteap));
                else if (NULL != jteap->body)
-                       Jim_DecrRefCount(interp, jteap->body);
+                       Jim_DecrRefCount(goi->interp, jteap->body);
 
+               jteap->interp = goi->interp;
                jteap->event = n->value;
 
                Jim_Obj *o;
@@ -350,46 +372,41 @@ static int jtag_tap_configure_event(Jim_GetOptInfo *goi, struct jtag_tap * tap)
                jteap->body = Jim_DuplicateObj(goi->interp, o);
                Jim_IncrRefCount(jteap->body);
 
-               if (!found)
-               {
+               if (!found) {
                        /* add to head of event list */
                        jteap->next = tap->event_action;
                        tap->event_action = jteap;
                }
-       }
-       else if (found)
-       {
+       } 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)
+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);
+       while (goi->argc > 0) {
+               Jim_SetEmptyResult(goi->interp);
 
                Jim_Nvp *n;
                int e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
-               if (e != JIM_OK)
-               {
+               if (e != JIM_OK) {
                        Jim_GetOpt_NvpUnknown(goi, nvp_config_opts, 0);
                        return e;
                }
 
-               switch (n->value)
-               {
-               case JCFG_EVENT:
-                       e = jtag_tap_configure_event(goi, tap);
-                       if (e != JIM_OK)
-                               return e;
-                       break;
-               default:
-                       Jim_SetResult_sprintf(goi->interp, "unknown event: %s", n->name);
-                       return JIM_ERR;
+               switch (n->value) {
+                       case JCFG_EVENT:
+                               e = jtag_tap_configure_event(goi, tap);
+                               if (e != JIM_OK)
+                                       return e;
+                               break;
+                       default:
+                               Jim_SetResultFormatted(goi->interp, "unknown event: %s", n->name);
+                               return JIM_ERR;
                }
        }
 
@@ -406,33 +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;
        }
 
@@ -440,15 +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;
@@ -457,10 +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;
@@ -470,169 +567,94 @@ 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)
-       {
+       for (jteap = tap->event_action; jteap != NULL; jteap = jteap->next) {
                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));
+                       tap->dotted_name, e, nvp->name,
+                       Jim_GetString(jteap->body, NULL));
 
-               if (Jim_EvalObj(interp, jteap->body) != JIM_OK)
-               {
-                       Jim_PrintErrorMessage(interp);
+               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,
+               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;
+                           break;
+                   default:
+                           break;
                }
        }
 }
 
-static int jim_jtag_interface(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
-{
-       Jim_GetOptInfo goi;
-       Jim_GetOpt_Setup(&goi, interp, argc-1, argv + 1);
-
-       /* 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;
-}
-
 static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
        Jim_GetOptInfo goi;
@@ -641,10 +663,12 @@ static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                Jim_WrongNumArgs(goi.interp, 1, goi.argv-1, "(no params)");
                return JIM_ERR;
        }
-       struct command_context *context = Jim_GetAssocData(interp, "context");
+       struct command_context *context = current_command_context(interp);
        int e = jtag_init_inner(context);
        if (e != ERROR_OK) {
-               Jim_SetResult_sprintf(goi.interp, "error: %d", e);
+               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;
@@ -652,22 +676,29 @@ static int jim_jtag_arp_init(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 
 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;
        }
-       struct command_context *context = Jim_GetAssocData(interp, "context");
-       int e = jtag_init_reset(context);
+       struct command_context *context = current_command_context(interp);
+       if (transport_is_jtag())
+               e = jtag_init_reset(context);
+       else if (transport_is_swd())
+               e = swd_init_reset(context);
+
        if (e != ERROR_OK) {
-               Jim_SetResult_sprintf(goi.interp, "error: %d", e);
+               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;
 }
 
-static int jim_jtag_newtap(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+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);
@@ -705,13 +736,13 @@ static bool jtag_tap_disable(struct jtag_tap *t)
        return true;
 }
 
-static int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+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_SetResult_sprintf(goi.interp, "usage: %s <name>", cmd_name);
+               Jim_SetResultFormatted(goi.interp, "usage: %s <name>", cmd_name);
                return JIM_ERR;
        }
 
@@ -722,13 +753,17 @@ static int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *ar
                return JIM_ERR;
 
        if (strcasecmp(cmd_name, "tapisenabled") == 0) {
-               // do nothing, just return the value
+               /* do nothing, just return the value */
        } else if (strcasecmp(cmd_name, "tapenable") == 0) {
-               if (!jtag_tap_enable(t))
-                       LOG_WARNING("failed to disable tap");
+               if (!jtag_tap_enable(t)) {
+                       LOG_WARNING("failed to enable tap %s", t->dotted_name);
+                       return JIM_ERR;
+               }
        } else if (strcasecmp(cmd_name, "tapdisable") == 0) {
-               if (!jtag_tap_disable(t))
-                       LOG_WARNING("failed to disable tap");
+               if (!jtag_tap_disable(t)) {
+                       LOG_WARNING("failed to disable tap %s", t->dotted_name);
+                       return JIM_ERR;
+               }
        } else {
                LOG_ERROR("command '%s' unknown", cmd_name);
                return JIM_ERR;
@@ -738,7 +773,7 @@ static int jim_jtag_tap_enabler(Jim_Interp *interp, int argc, Jim_Obj *const *ar
        return JIM_OK;
 }
 
-static int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
        const char *cmd_name = Jim_GetString(argv[0], NULL);
        Jim_GetOptInfo goi;
@@ -746,7 +781,7 @@ static int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv
        goi.isconfigure = !strcmp(cmd_name, "configure");
        if (goi.argc < 2 + goi.isconfigure) {
                Jim_WrongNumArgs(goi.interp, 0, NULL,
-                               "<tap_name> <attribute> ...");
+                       "<tap_name> <attribute> ...");
                return JIM_ERR;
        }
 
@@ -755,9 +790,8 @@ static int jim_jtag_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv
        Jim_Obj *o;
        Jim_GetOpt_Obj(&goi, &o);
        t = jtag_tap_by_jim_obj(goi.interp, o);
-       if (t == NULL) {
+       if (t == NULL)
                return JIM_ERR;
-       }
 
        return jtag_tap_configure_cmd(&goi, t);
 }
@@ -782,71 +816,103 @@ static int jim_jtag_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        return JIM_OK;
 }
 
+COMMAND_HANDLER(handle_jtag_init_command)
+{
+       if (CMD_ARGC != 0)
+               return ERROR_COMMAND_SYNTAX_ERROR;
+
+       static bool jtag_initialized;
+       if (jtag_initialized) {
+               LOG_INFO("'jtag init' has already been called");
+               return ERROR_OK;
+       }
+       jtag_initialized = true;
+
+       LOG_DEBUG("Initializing jtag devices...");
+       return jtag_init(CMD_CTX);
+}
+
 static const struct command_registration jtag_subcommand_handlers[] = {
        {
-               .name = "interface",
+               .name = "init",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_jtag_interface,
-               .help = "Returns the selected interface",
+               .handler = handle_jtag_init_command,
+               .help = "initialize jtag scan chain",
+               .usage = ""
        },
        {
                .name = "arp_init",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_jtag_arp_init,
+               .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,
+               .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",
-               .usage = "<name> <type> -irlen <count> [-ircapture <count>] "
-                       "[-irmask <count>] [-enable|-disable]",
+               .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 integer indicating TAP state (0/1)",
-               .usage = "<name>",
+               .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 = "Enable the specified TAP",
-               .usage = "<name>",
+               .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 = "Enable the specified TAP",
-               .usage = "<name>",
+               .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_EXEC,
-               .jim_handler = &jim_jtag_configure,
-               .help = "Enable the specified TAP",
-               .usage = "<name> [<key> <value> ...]",
+               .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 = "Enable the specified TAP",
-               .usage = "<name> [<key> <value> ...]",
+               .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",
+               .jim_handler = jim_jtag_names,
+               .help = "Returns list of all JTAG tap names.",
        },
        {
                .chain = jtag_command_handlers_to_move,
@@ -863,122 +929,50 @@ void jtag_notify_event(enum jtag_event event)
 }
 
 
-static int default_khz(int khz, int *jtag_speed)
-{
-       LOG_ERROR("Translation from khz to jtag_speed not implemented");
-       return ERROR_FAIL;
-}
-
-static int default_speed_div(int speed, int *khz)
-{
-       LOG_ERROR("Translation from jtag_speed to khz not implemented");
-       return ERROR_FAIL;
-}
-
-static int default_power_dropout(int *dropout)
-{
-       *dropout = 0; /* by default we can't detect power dropout */
-       return ERROR_OK;
-}
-
-static int default_srst_asserted(int *srst_asserted)
-{
-       *srst_asserted = 0; /* by default we can't detect srst asserted */
-       return ERROR_OK;
-}
-
-COMMAND_HANDLER(handle_interface_list_command)
-{
-       if (strcmp(CMD_NAME, "interface_list") == 0 && 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);
-       }
-
-       return ERROR_OK;
-}
-
-COMMAND_HANDLER(handle_interface_command)
-{
-       /* check whether the interface is already configured */
-       if (jtag_interface)
-       {
-               LOG_WARNING("Interface already configured, ignoring");
-               return ERROR_OK;
-       }
-
-       /* interface name is a mandatory argument */
-       if (CMD_ARGC != 1 || CMD_ARGV[0][0] == '\0')
-               return ERROR_COMMAND_SYNTAX_ERROR;
-
-       for (unsigned i = 0; NULL != jtag_interfaces[i]; i++)
-       {
-               if (strcmp(CMD_ARGV[0], jtag_interfaces[i]->name) != 0)
-                       continue;
-
-               if (NULL != jtag_interfaces[i]->commands)
-               {
-                       int retval = register_commands(CMD_CTX, NULL,
-                                       jtag_interfaces[i]->commands);
-                       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;
-
-               return ERROR_OK;
-       }
-
-       /* 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)", CMD_ARGV[0]);
-       CALL_COMMAND_HANDLER(handle_interface_list_command);
-       return ERROR_JTAG_INVALID_INTERFACE;
-}
-
 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;
+               uint32_t expected, expected_mask, ii;
+
+               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] = '*';
+
                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));
+                       "%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));
 
                for (ii = 1; ii < tap->expected_ids_cnt; ii++) {
-                       command_print(CMD_CTX, "   |                    |         |            | 0x%08x |      |      |      |         ",
-                                                 (unsigned int)(tap->expected_ids[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);
                }
 
                tap = tap->next_tap;
@@ -987,223 +981,11 @@ COMMAND_HANDLER(handle_scan_chain_command)
        return ERROR_OK;
 }
 
-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 (; CMD_ARGC; CMD_ARGC--, CMD_ARGV++) {
-               int tmp = 0;
-               int m;
-
-               /* gating */
-               m = RESET_SRST_NO_GATING;
-               if (strcmp(*CMD_ARGV, "srst_gates_jtag") == 0)
-                       /* default: don't use JTAG while SRST asserted */;
-               else if (strcmp(*CMD_ARGV, "srst_nogate") == 0)
-                       tmp = RESET_SRST_NO_GATING;
-               else
-                       m = 0;
-               if (mask & m) {
-                       LOG_ERROR("extra reset_config %s spec (%s)",
-                                       "gating", *CMD_ARGV);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* signals */
-               m = RESET_HAS_TRST | RESET_HAS_SRST;
-               if (strcmp(*CMD_ARGV, "none") == 0)
-                       tmp = RESET_NONE;
-               else if (strcmp(*CMD_ARGV, "trst_only") == 0)
-                       tmp = RESET_HAS_TRST;
-               else if (strcmp(*CMD_ARGV, "srst_only") == 0)
-                       tmp = RESET_HAS_SRST;
-               else if (strcmp(*CMD_ARGV, "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", *CMD_ARGV);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* combination (options for broken wiring) */
-               m = RESET_SRST_PULLS_TRST | RESET_TRST_PULLS_SRST;
-               if (strcmp(*CMD_ARGV, "separate") == 0)
-                       /* separate reset lines - default */;
-               else if (strcmp(*CMD_ARGV, "srst_pulls_trst") == 0)
-                       tmp |= RESET_SRST_PULLS_TRST;
-               else if (strcmp(*CMD_ARGV, "trst_pulls_srst") == 0)
-                       tmp |= RESET_TRST_PULLS_SRST;
-               else if (strcmp(*CMD_ARGV, "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", *CMD_ARGV);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* trst_type (NOP without HAS_TRST) */
-               m = RESET_TRST_OPEN_DRAIN;
-               if (strcmp(*CMD_ARGV, "trst_open_drain") == 0)
-                       tmp |= RESET_TRST_OPEN_DRAIN;
-               else if (strcmp(*CMD_ARGV, "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", *CMD_ARGV);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* srst_type (NOP without HAS_SRST) */
-               m |= RESET_SRST_PUSH_PULL;
-               if (strcmp(*CMD_ARGV, "srst_push_pull") == 0)
-                       tmp |= RESET_SRST_PUSH_PULL;
-               else if (strcmp(*CMD_ARGV, "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", *CMD_ARGV);
-                       return ERROR_INVALID_ARGUMENTS;
-               }
-               if (m)
-                       goto next;
-
-               /* caller provided nonsense; fail */
-               LOG_ERROR("unknown reset_config flag (%s)", *CMD_ARGV);
-               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;
-}
-
-COMMAND_HANDLER(handle_jtag_nsrst_delay_command)
-{
-       if (CMD_ARGC > 1)
-               return ERROR_COMMAND_SYNTAX_ERROR;
-       if (CMD_ARGC == 1)
-       {
-               unsigned delay;
-               COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
-
-               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 (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                unsigned delay;
                COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 
@@ -1213,27 +995,11 @@ COMMAND_HANDLER(handle_jtag_ntrst_delay_command)
        return ERROR_OK;
 }
 
-COMMAND_HANDLER(handle_jtag_nsrst_assert_width_command)
-{
-       if (CMD_ARGC > 1)
-               return ERROR_COMMAND_SYNTAX_ERROR;
-       if (CMD_ARGC == 1)
-       {
-               unsigned delay;
-               COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
-
-               jtag_set_nsrst_assert_width(delay);
-       }
-       command_print(CMD_CTX, "jtag_nsrst_assert_width: %u", jtag_get_nsrst_assert_width());
-       return ERROR_OK;
-}
-
 COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
 {
        if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                unsigned delay;
                COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], delay);
 
@@ -1243,43 +1009,13 @@ COMMAND_HANDLER(handle_jtag_ntrst_assert_width_command)
        return ERROR_OK;
 }
 
-COMMAND_HANDLER(handle_jtag_khz_command)
-{
-       if (CMD_ARGC > 1)
-               return ERROR_COMMAND_SYNTAX_ERROR;
-
-       int retval = ERROR_OK;
-       if (CMD_ARGC == 1)
-       {
-               unsigned khz = 0;
-               COMMAND_PARSE_NUMBER(uint, CMD_ARGV[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 (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
        int retval = ERROR_OK;
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                unsigned khz = 0;
                COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], khz);
 
@@ -1322,7 +1058,7 @@ COMMAND_HANDLER(handle_jtag_reset_command)
        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);
@@ -1353,13 +1089,11 @@ 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 ((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
@@ -1368,82 +1102,80 @@ COMMAND_HANDLER(handle_irscan_command)
        endstate = TAP_IDLE;
 
        if (CMD_ARGC >= 4) {
-               /* have at least one pair of numbers. */
-               /* is last pair the magic text? */
+               /* 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\"",
-                                               CMD_ARGV[CMD_ARGC - 1]);
+                                       CMD_ARGV[CMD_ARGC - 1]);
                        CMD_ARGC -= 2;
                }
        }
 
        int num_fields = CMD_ARGC / 2;
-       size_t fields_len = sizeof(struct scan_field) * num_fields;
-       fields = malloc(fields_len);
-       memset(fields, 0, fields_len);
+       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++)
-       {
+       for (i = 0; i < num_fields; i++) {
                tap = jtag_tap_by_string(CMD_ARGV[i*2]);
-               if (tap == NULL)
-               {
-                       int j;
-                       for (j = 0; j < i; j++)
-                               free(fields[j].out_value);
-                        free(fields);
+               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(DIV_ROUND_UP(field_size, 8));
+               uint8_t *v = malloc(DIV_ROUND_UP(field_size, 8));
 
-               uint32_t value;
-               retval = parse_u32(CMD_ARGV[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;
 }
 
-
 COMMAND_HANDLER(handle_verify_ircapture_command)
 {
        if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                bool enable;
                COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
                jtag_set_verify_capture_ir(enable);
        }
 
-       const char *status = jtag_will_verify_capture_ir() ? "enabled": "disabled";
+       const char *status = jtag_will_verify_capture_ir() ? "enabled" : "disabled";
        command_print(CMD_CTX, "verify Capture-IR is %s", status);
 
        return ERROR_OK;
@@ -1454,14 +1186,13 @@ COMMAND_HANDLER(handle_verify_jtag_command)
        if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                bool enable;
                COMMAND_PARSE_ENABLE(CMD_ARGV[0], enable);
                jtag_set_verify(enable);
        }
 
-       const char *status = jtag_will_verify() ? "enabled": "disabled";
+       const char *status = jtag_will_verify() ? "enabled" : "disabled";
        command_print(CMD_CTX, "verify jtag capture is %s", status);
 
        return ERROR_OK;
@@ -1472,8 +1203,7 @@ COMMAND_HANDLER(handle_tms_sequence_command)
        if (CMD_ARGC > 1)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                bool use_new_table;
                if (strcmp(CMD_ARGV[0], "short") == 0)
                        use_new_table = true;
@@ -1486,130 +1216,163 @@ COMMAND_HANDLER(handle_tms_sequence_command)
        }
 
        command_print(CMD_CTX, "tms sequence is  %s",
-                       tap_uses_new_tms_table() ? "short": "long");
+               tap_uses_new_tms_table() ? "short" : "long");
+
+       return ERROR_OK;
+}
+
+COMMAND_HANDLER(handle_jtag_flush_queue_sleep)
+{
+       if (CMD_ARGC != 1)
+               return ERROR_COMMAND_SYNTAX_ERROR;
+
+       int sleep_ms;
+       COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], sleep_ms);
+
+       jtag_set_flush_queue_sleep(sleep_ms);
+
+       return ERROR_OK;
+}
+
+COMMAND_HANDLER(handle_wait_srst_deassert)
+{
+       if (CMD_ARGC != 1)
+               return ERROR_COMMAND_SYNTAX_ERROR;
+
+       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;
+       }
+
+       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;
 }
 
 static const struct command_registration jtag_command_handlers[] = {
+
        {
-               .name = "interface",
-               .handler = &handle_interface_command,
-               .mode = COMMAND_CONFIG,
-               .help = "select a JTAG interface",
-               .usage = "<driver_name>",
-       },
-       {
-               .name = "interface_list",
-               .handler = &handle_interface_list_command,
-               .mode = COMMAND_ANY,
-               .help = "list all built-in interfaces",
-       },
-       {
-               .name = "jtag_khz",
-               .handler = &handle_jtag_khz_command,
+               .name = "jtag_flush_queue_sleep",
+               .handler = handle_jtag_flush_queue_sleep,
                .mode = COMMAND_ANY,
-               .help = "set maximum jtag speed (if supported)",
-               .usage = "<khz:0=rtck>",
+               .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 = "set JTAG speed to RCLK or use fallback speed",
-               .usage = "<fallback_speed_khz>",
-       },
-       {
-               .name = "reset_config",
-               .handler = &handle_reset_config_command,
-               .mode = COMMAND_ANY,
-               .help = "configure JTAG reset behavior",
-               .usage = "[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]",
-       },
-       {
-               .name = "jtag_nsrst_delay",
-               .handler = &handle_jtag_nsrst_delay_command,
+               .handler = handle_jtag_rclk_command,
                .mode = COMMAND_ANY,
-               .help = "delay after deasserting srst in ms",
-               .usage = "<ms>",
+               .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,
+               .handler = handle_jtag_ntrst_delay_command,
                .mode = COMMAND_ANY,
                .help = "delay after deasserting trst in ms",
-               .usage = "<ms>"
-       },
-       {
-               .name = "jtag_nsrst_assert_width",
-               .handler = &handle_jtag_nsrst_assert_width_command,
-               .mode = COMMAND_ANY,
-               .help = "delay after asserting srst in ms",
-               .usage = "<ms>"
+               .usage = "[milliseconds]",
        },
        {
                .name = "jtag_ntrst_assert_width",
-               .handler = &handle_jtag_ntrst_assert_width_command,
+               .handler = handle_jtag_ntrst_assert_width_command,
                .mode = COMMAND_ANY,
                .help = "delay after asserting trst in ms",
-               .usage = "<ms>"
+               .usage = "[milliseconds]",
        },
        {
                .name = "scan_chain",
-               .handler = &handle_scan_chain_command,
-               .mode = COMMAND_EXEC,
+               .handler = handle_scan_chain_command,
+               .mode = COMMAND_ANY,
                .help = "print current scan chain configuration",
+               .usage = ""
        },
        {
                .name = "jtag_reset",
-               .handler = &handle_jtag_reset_command,
+               .handler = handle_jtag_reset_command,
                .mode = COMMAND_EXEC,
-               .help = "toggle reset lines",
-               .usage = "<trst> <srst>",
+               .help = "Set reset line values.  Value '1' is active, "
+                       "value '0' is inactive.",
+               .usage = "trst_active srst_active",
        },
        {
                .name = "runtest",
-               .handler = &handle_runtest_command,
+               .handler = handle_runtest_command,
                .mode = COMMAND_EXEC,
-               .help = "move to Run-Test/Idle, and execute <num_cycles>",
-               .usage = "<num_cycles>"
+               .help = "Move to Run-Test/Idle, and issue TCK for num_cycles.",
+               .usage = "num_cycles"
        },
        {
                .name = "irscan",
-               .handler = &handle_irscan_command,
+               .handler = handle_irscan_command,
                .mode = COMMAND_EXEC,
-               .help = "execute IR scan",
-               .usage = "<device> <instr> [dev2] [instr2] ...",
+               .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,
+               .handler = handle_verify_ircapture_command,
                .mode = COMMAND_ANY,
-               .help = "verify value captured during Capture-IR",
-               .usage = "<enable | disable>",
+               .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,
+               .handler = handle_verify_jtag_command,
                .mode = COMMAND_ANY,
-               .help = "verify value capture",
-               .usage = "<enable | disable>",
+               .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,
+               .handler = handle_tms_sequence_command,
                .mode = COMMAND_ANY,
-               .help = "choose short(default) or long tms_sequence",
-               .usage = "<short | long>",
+               .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,
        },
@@ -1618,6 +1381,7 @@ static const struct command_registration jtag_command_handlers[] = {
        },
        COMMAND_REGISTRATION_DONE
 };
+
 int jtag_register_commands(struct command_context *cmd_ctx)
 {
        return register_commands(cmd_ctx, NULL, jtag_command_handlers);