target: add async algorithm entries to the target type
[openocd.git] / src / target / target.c
index 740db0f189200195a2e461fe3c016c6d64652dd7..6a60b4ea471181640e662fa79e5d535ff9543d7d 100644 (file)
@@ -2,7 +2,7 @@
  *   Copyright (C) 2005 by Dominic Rath                                    *
  *   Dominic.Rath@gmx.de                                                   *
  *                                                                         *
- *   Copyright (C) 2007-2009 Øyvind Harboe                                 *
+ *   Copyright (C) 2007-2010 Øyvind Harboe                                 *
  *   oyvind.harboe@zylin.com                                               *
  *                                                                         *
  *   Copyright (C) 2008, Duane Ellis                                       *
  *   Copyright (C) 2008 by Rick Altherr                                    *
  *   kc8apf@kc8apf.net>                                                    *
  *                                                                         *
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
+ *   Copyright (C) ST-Ericsson SA 2011                                     *
+ *   michel.jaouen@stericsson.com : smp minimum support                    *
+ *                                                                         *
  *   This program is free software; you can redistribute it and/or modify  *
  *   it under the terms of the GNU General Public License as published by  *
  *   the Free Software Foundation; either version 2 of the License, or     *
@@ -35,6 +41,7 @@
 
 #include <helper/time_support.h>
 #include <jtag/jtag.h>
+#include <flash/nor/core.h>
 
 #include "target.h"
 #include "target_type.h"
 #include "register.h"
 #include "trace.h"
 #include "image.h"
+#include "rtos/rtos.h"
 
 
-static int target_array2mem(Jim_Interp *interp, struct target *target, int argc, Jim_Obj *const *argv);
-static int target_mem2array(Jim_Interp *interp, struct target *target, int argc, Jim_Obj *const *argv);
+static int target_read_buffer_default(struct target *target, uint32_t address,
+               uint32_t size, uint8_t *buffer);
+static int target_write_buffer_default(struct target *target, uint32_t address,
+               uint32_t size, const uint8_t *buffer);
+static int target_array2mem(Jim_Interp *interp, struct target *target,
+               int argc, Jim_Obj *const *argv);
+static int target_mem2array(Jim_Interp *interp, struct target *target,
+               int argc, Jim_Obj *const *argv);
+static int target_register_user_commands(struct command_context *cmd_ctx);
 
 /* targets */
 extern struct target_type arm7tdmi_target;
@@ -54,6 +69,7 @@ extern struct target_type arm720t_target;
 extern struct target_type arm9tdmi_target;
 extern struct target_type arm920t_target;
 extern struct target_type arm966e_target;
+extern struct target_type arm946e_target;
 extern struct target_type arm926ejs_target;
 extern struct target_type fa526_target;
 extern struct target_type feroceon_target;
@@ -64,15 +80,19 @@ extern struct target_type cortexa8_target;
 extern struct target_type arm11_target;
 extern struct target_type mips_m4k_target;
 extern struct target_type avr_target;
+extern struct target_type dsp563xx_target;
+extern struct target_type dsp5680xx_target;
 extern struct target_type testee_target;
+extern struct target_type avr32_ap7k_target;
 
-struct target_type *target_types[] =
+static struct target_type *target_types[] =
 {
        &arm7tdmi_target,
        &arm9tdmi_target,
        &arm920t_target,
        &arm720t_target,
        &arm966e_target,
+       &arm946e_target,
        &arm926ejs_target,
        &fa526_target,
        &feroceon_target,
@@ -83,13 +103,17 @@ struct target_type *target_types[] =
        &arm11_target,
        &mips_m4k_target,
        &avr_target,
+       &dsp563xx_target,
+       &dsp5680xx_target,
        &testee_target,
+       &avr32_ap7k_target,
        NULL,
 };
 
 struct target *all_targets = NULL;
-struct target_event_callback *target_event_callbacks = NULL;
-struct target_timer_callback *target_timer_callbacks = NULL;
+static struct target_event_callback *target_event_callbacks = NULL;
+static struct target_timer_callback *target_timer_callbacks = NULL;
+static const int polling_interval = 100;
 
 static const Jim_Nvp nvp_assert[] = {
        { .name = "assert", NVP_ASSERT },
@@ -116,7 +140,7 @@ static const Jim_Nvp nvp_error_target[] = {
        { .value = -1, .name = NULL }
 };
 
-const char *target_strerror_safe(int err)
+static const char *target_strerror_safe(int err)
 {
        const Jim_Nvp *n;
 
@@ -267,6 +291,15 @@ uint32_t target_buffer_get_u32(struct target *target, const uint8_t *buffer)
                return be_to_h_u32(buffer);
 }
 
+/* read a uint24_t from a buffer in target memory endianness */
+uint32_t target_buffer_get_u24(struct target *target, const uint8_t *buffer)
+{
+       if (target->endianness == TARGET_LITTLE_ENDIAN)
+               return le_to_h_u24(buffer);
+       else
+               return be_to_h_u24(buffer);
+}
+
 /* read a uint16_t from a buffer in target memory endianness */
 uint16_t target_buffer_get_u16(struct target *target, const uint8_t *buffer)
 {
@@ -277,7 +310,7 @@ uint16_t target_buffer_get_u16(struct target *target, const uint8_t *buffer)
 }
 
 /* read a uint8_t from a buffer in target memory endianness */
-uint8_t target_buffer_get_u8(struct target *target, const uint8_t *buffer)
+static uint8_t target_buffer_get_u8(struct target *target, const uint8_t *buffer)
 {
        return *buffer & 0x0ff;
 }
@@ -291,6 +324,15 @@ void target_buffer_set_u32(struct target *target, uint8_t *buffer, uint32_t valu
                h_u32_to_be(buffer, value);
 }
 
+/* write a uint24_t to a buffer in target memory endianness */
+void target_buffer_set_u24(struct target *target, uint8_t *buffer, uint32_t value)
+{
+       if (target->endianness == TARGET_LITTLE_ENDIAN)
+               h_u24_to_le(buffer, value);
+       else
+               h_u24_to_be(buffer, value);
+}
+
 /* write a uint16_t to a buffer in target memory endianness */
 void target_buffer_set_u16(struct target *target, uint8_t *buffer, uint16_t value)
 {
@@ -301,11 +343,43 @@ void target_buffer_set_u16(struct target *target, uint8_t *buffer, uint16_t valu
 }
 
 /* write a uint8_t to a buffer in target memory endianness */
-void target_buffer_set_u8(struct target *target, uint8_t *buffer, uint8_t value)
+static void target_buffer_set_u8(struct target *target, uint8_t *buffer, uint8_t value)
 {
        *buffer = value;
 }
 
+/* write a uint32_t array to a buffer in target memory endianness */
+void target_buffer_get_u32_array(struct target *target, const uint8_t *buffer, uint32_t count, uint32_t *dstbuf)
+{
+       uint32_t i;
+       for(i = 0; i < count; i ++)
+               dstbuf[i] = target_buffer_get_u32(target,&buffer[i*4]);
+}
+
+/* write a uint16_t array to a buffer in target memory endianness */
+void target_buffer_get_u16_array(struct target *target, const uint8_t *buffer, uint32_t count, uint16_t *dstbuf)
+{
+       uint32_t i;
+       for(i = 0; i < count; i ++)
+               dstbuf[i] = target_buffer_get_u16(target,&buffer[i*2]);
+}
+
+/* write a uint32_t array to a buffer in target memory endianness */
+void target_buffer_set_u32_array(struct target *target, uint8_t *buffer, uint32_t count, uint32_t *srcbuf)
+{
+       uint32_t i;
+       for(i = 0; i < count; i ++)
+               target_buffer_set_u32(target,&buffer[i*4],srcbuf[i]);
+}
+
+/* write a uint16_t array to a buffer in target memory endianness */
+void target_buffer_set_u16_array(struct target *target, uint8_t *buffer, uint32_t count, uint16_t *srcbuf)
+{
+       uint32_t i;
+       for(i = 0; i < count; i ++)
+               target_buffer_set_u16(target,&buffer[i*2],srcbuf[i]);
+}
+
 /* return a pointer to a configured target; id is name or number */
 struct target *get_target(const char *id)
 {
@@ -420,6 +494,36 @@ int target_halt(struct target *target)
        return ERROR_OK;
 }
 
+/**
+ * Make the target (re)start executing using its saved execution
+ * context (possibly with some modifications).
+ *
+ * @param target Which target should start executing.
+ * @param current True to use the target's saved program counter instead
+ *     of the address parameter
+ * @param address Optionally used as the program counter.
+ * @param handle_breakpoints True iff breakpoints at the resumption PC
+ *     should be skipped.  (For example, maybe execution was stopped by
+ *     such a breakpoint, in which case it would be counterprodutive to
+ *     let it re-trigger.
+ * @param debug_execution False if all working areas allocated by OpenOCD
+ *     should be released and/or restored to their original contents.
+ *     (This would for example be true to run some downloaded "helper"
+ *     algorithm code, which resides in one such working buffer and uses
+ *     another for data storage.)
+ *
+ * @todo Resolve the ambiguity about what the "debug_execution" flag
+ * signifies.  For example, Target implementations don't agree on how
+ * it relates to invalidation of the register cache, or to whether
+ * breakpoints and watchpoints should be enabled.  (It would seem wrong
+ * to enable breakpoints when running downloaded "helper" algorithms
+ * (debug_execution true), since the breakpoints would be set to match
+ * target firmware being debugged, not the helper algorithm.... and
+ * enabling them could cause such helpers to malfunction (for example,
+ * by overwriting data with a breakpoint instruction.  On the other
+ * hand the infrastructure for running such helpers might use this
+ * procedure but rely on hardware breakpoint to detect termination.)
+ */
 int target_resume(struct target *target, int current, uint32_t address, int handle_breakpoints, int debug_execution)
 {
        int retval;
@@ -431,9 +535,9 @@ int target_resume(struct target *target, int current, uint32_t address, int hand
                return ERROR_FAIL;
        }
 
-       /* note that resume *must* be asynchronous. The CPU can halt before we poll. The CPU can
-        * even halt at the current PC as a result of a software breakpoint being inserted by (a bug?)
-        * the application.
+       /* note that resume *must* be asynchronous. The CPU can halt before
+        * we poll. The CPU can even halt at the current PC as a result of
+        * a software breakpoint being inserted by (a bug?) the application.
         */
        if ((retval = target->type->resume(target, current, address, handle_breakpoints, debug_execution)) != ERROR_OK)
                return retval;
@@ -441,7 +545,7 @@ int target_resume(struct target *target, int current, uint32_t address, int hand
        return retval;
 }
 
-int target_process_reset(struct command_context *cmd_ctx, enum target_reset_mode reset_mode)
+static int target_process_reset(struct command_context *cmd_ctx, enum target_reset_mode reset_mode)
 {
        char buf[100];
        int retval;
@@ -466,13 +570,19 @@ int target_process_reset(struct command_context *cmd_ctx, enum target_reset_mode
        jtag_poll_set_enabled(save_poll);
 
        if (retval != JIM_OK) {
-               Jim_PrintErrorMessage(cmd_ctx->interp);
+               Jim_MakeErrorMessage(cmd_ctx->interp);
+               command_print(NULL,"%s\n", Jim_GetString(Jim_GetResult(cmd_ctx->interp), NULL));
                return ERROR_FAIL;
        }
 
        /* We want any events to be processed before the prompt */
        retval = target_call_timer_callbacks_now();
 
+       struct target *target;
+       for (target = all_targets; target; target = target->next) {
+               target->type->check_reset(target);
+       }
+
        return retval;
 }
 
@@ -495,6 +605,12 @@ static int default_examine(struct target *target)
        return ERROR_OK;
 }
 
+/* no check by default */
+static int default_check_reset(struct target *target)
+{
+       return ERROR_OK;
+}
+
 int target_examine_one(struct target *target)
 {
        return target->type->examine(target);
@@ -540,7 +656,7 @@ const char *target_type_name(struct target *target)
        return target->type->name;
 }
 
-static int target_write_memory_imp(struct target *target, uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+static int target_write_memory_imp(struct target *target, uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        if (!target_was_examined(target))
        {
@@ -575,42 +691,149 @@ static int target_soft_reset_halt_imp(struct target *target)
        return target->type->soft_reset_halt_imp(target);
 }
 
-static int target_run_algorithm_imp(struct target *target, int num_mem_params, struct mem_param *mem_params, int num_reg_params, struct reg_param *reg_param, uint32_t entry_point, uint32_t exit_point, int timeout_ms, void *arch_info)
+/**
+ * Downloads a target-specific native code algorithm to the target,
+ * and executes it.  * Note that some targets may need to set up, enable,
+ * and tear down a breakpoint (hard or * soft) to detect algorithm
+ * termination, while others may support  lower overhead schemes where
+ * soft breakpoints embedded in the algorithm automatically terminate the
+ * algorithm.
+ *
+ * @param target used to run the algorithm
+ * @param arch_info target-specific description of the algorithm.
+ */
+int target_run_algorithm(struct target *target,
+               int num_mem_params, struct mem_param *mem_params,
+               int num_reg_params, struct reg_param *reg_param,
+               uint32_t entry_point, uint32_t exit_point,
+               int timeout_ms, void *arch_info)
 {
+       int retval = ERROR_FAIL;
+
        if (!target_was_examined(target))
        {
                LOG_ERROR("Target not examined yet");
-               return ERROR_FAIL;
+               goto done;
+       }
+       if (!target->type->run_algorithm) {
+               LOG_ERROR("Target type '%s' does not support %s",
+                               target_type_name(target), __func__);
+               goto done;
+       }
+
+       target->running_alg = true;
+       retval = target->type->run_algorithm(target,
+                       num_mem_params, mem_params,
+                       num_reg_params, reg_param,
+                       entry_point, exit_point, timeout_ms, arch_info);
+       target->running_alg = false;
+
+done:
+       return retval;
+}
+
+/**
+ * Downloads a target-specific native code algorithm to the target,
+ * executes and leaves it running.
+ *
+ * @param target used to run the algorithm
+ * @param arch_info target-specific description of the algorithm.
+ */
+int target_start_algorithm(struct target *target,
+               int num_mem_params, struct mem_param *mem_params,
+               int num_reg_params, struct reg_param *reg_params,
+               uint32_t entry_point, uint32_t exit_point,
+               void *arch_info)
+{
+       int retval = ERROR_FAIL;
+
+       if (!target_was_examined(target))
+       {
+               LOG_ERROR("Target not examined yet");
+               goto done;
        }
-       return target->type->run_algorithm_imp(target, num_mem_params, mem_params, num_reg_params, reg_param, entry_point, exit_point, timeout_ms, arch_info);
+       if (!target->type->start_algorithm) {
+               LOG_ERROR("Target type '%s' does not support %s",
+                               target_type_name(target), __func__);
+               goto done;
+       }
+       if (target->running_alg) {
+               LOG_ERROR("Target is already running an algorithm");
+               goto done;
+       }
+
+       target->running_alg = true;
+       retval = target->type->start_algorithm(target,
+                       num_mem_params, mem_params,
+                       num_reg_params, reg_params,
+                       entry_point, exit_point, arch_info);
+
+done:
+       return retval;
 }
 
+/**
+ * Waits for an algorithm started with target_start_algorithm() to complete.
+ *
+ * @param target used to run the algorithm
+ * @param arch_info target-specific description of the algorithm.
+ */
+int target_wait_algorithm(struct target *target,
+               int num_mem_params, struct mem_param *mem_params,
+               int num_reg_params, struct reg_param *reg_params,
+               uint32_t exit_point, int timeout_ms,
+               void *arch_info)
+{
+       int retval = ERROR_FAIL;
+
+       if (!target->type->wait_algorithm) {
+               LOG_ERROR("Target type '%s' does not support %s",
+                               target_type_name(target), __func__);
+               goto done;
+       }
+       if (!target->running_alg) {
+               LOG_ERROR("Target is not running an algorithm");
+               goto done;
+       }
+
+       retval = target->type->wait_algorithm(target,
+                       num_mem_params, mem_params,
+                       num_reg_params, reg_params,
+                       exit_point, timeout_ms, arch_info);
+       if (retval != ERROR_TARGET_TIMEOUT)
+               target->running_alg = false;
+
+done:
+       return retval;
+}
+
+
 int target_read_memory(struct target *target,
                uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
 {
        return target->type->read_memory(target, address, size, count, buffer);
 }
 
-int target_read_phys_memory(struct target *target,
+static int target_read_phys_memory(struct target *target,
                uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
 {
        return target->type->read_phys_memory(target, address, size, count, buffer);
 }
 
 int target_write_memory(struct target *target,
-               uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        return target->type->write_memory(target, address, size, count, buffer);
 }
 
-int target_write_phys_memory(struct target *target,
-               uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+static int target_write_phys_memory(struct target *target,
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        return target->type->write_phys_memory(target, address, size, count, buffer);
 }
 
 int target_bulk_write_memory(struct target *target,
-               uint32_t address, uint32_t count, uint8_t *buffer)
+               uint32_t address, uint32_t count, const uint8_t *buffer)
 {
        return target->type->bulk_write_memory(target, address, count, buffer);
 }
@@ -618,12 +841,33 @@ int target_bulk_write_memory(struct target *target,
 int target_add_breakpoint(struct target *target,
                struct breakpoint *breakpoint)
 {
-       if (target->state != TARGET_HALTED) {
+       if ((target->state != TARGET_HALTED)&&(breakpoint->type!=BKPT_HARD)) {
                LOG_WARNING("target %s is not halted", target->cmd_name);
                return ERROR_TARGET_NOT_HALTED;
        }
        return target->type->add_breakpoint(target, breakpoint);
 }
+
+int target_add_context_breakpoint(struct target *target,
+               struct breakpoint *breakpoint)
+{
+       if (target->state != TARGET_HALTED) {
+               LOG_WARNING("target %s is not halted", target->cmd_name);
+               return ERROR_TARGET_NOT_HALTED;
+       }
+       return target->type->add_context_breakpoint(target, breakpoint);
+}
+
+int target_add_hybrid_breakpoint(struct target *target,
+               struct breakpoint *breakpoint)
+{
+       if (target->state != TARGET_HALTED) {
+               LOG_WARNING("target %s is not halted", target->cmd_name);
+               return ERROR_TARGET_NOT_HALTED;
+       }
+       return target->type->add_hybrid_breakpoint(target, breakpoint);
+}
+
 int target_remove_breakpoint(struct target *target,
                struct breakpoint *breakpoint)
 {
@@ -657,17 +901,6 @@ int target_step(struct target *target,
 }
 
 
-int target_run_algorithm(struct target *target,
-               int num_mem_params, struct mem_param *mem_params,
-               int num_reg_params, struct reg_param *reg_param,
-               uint32_t entry_point, uint32_t exit_point,
-               int timeout_ms, void *arch_info)
-{
-       return target->type->run_algorithm(target,
-                       num_mem_params, mem_params, num_reg_params, reg_param,
-                       entry_point, exit_point, timeout_ms, arch_info);
-}
-
 /**
  * Reset the @c examined flag for the given target.
  * Pure paranoia -- targets are zeroed on allocation.
@@ -687,7 +920,7 @@ err_read_phys_memory(struct target *target, uint32_t address,
 
 static int
 err_write_phys_memory(struct target *target, uint32_t address,
-               uint32_t size, uint32_t count, uint8_t *buffer)
+               uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        LOG_ERROR("Not implemented: %s", __func__);
        return ERROR_FAIL;
@@ -704,6 +937,9 @@ static int target_init_one(struct command_context *cmd_ctx,
        if (type->examine == NULL)
                type->examine = default_examine;
 
+       if (type->check_reset== NULL)
+               type->check_reset = default_check_reset;
+
        int retval = type->init_target(cmd_ctx, target);
        if (ERROR_OK != retval)
        {
@@ -728,9 +964,6 @@ static int target_init_one(struct command_context *cmd_ctx,
        type->soft_reset_halt_imp = target->type->soft_reset_halt;
        type->soft_reset_halt = target_soft_reset_halt_imp;
 
-       type->run_algorithm_imp = target->type->run_algorithm;
-       type->run_algorithm = target_run_algorithm_imp;
-
        /* Sanity-check MMU support ... stub in what we must, to help
         * implement it in stages, but warn if we need to do so.
         */
@@ -771,10 +1004,17 @@ static int target_init_one(struct command_context *cmd_ctx,
                type->read_phys_memory = type->read_memory;
                type->virt2phys = identity_virt2phys;
        }
+
+       if (target->type->read_buffer == NULL)
+               target->type->read_buffer = target_read_buffer_default;
+
+       if (target->type->write_buffer == NULL)
+               target->type->write_buffer = target_write_buffer_default;
+
        return ERROR_OK;
 }
 
-int target_init(struct command_context *cmd_ctx)
+static int target_init(struct command_context *cmd_ctx)
 {
        struct target *target;
        int retval;
@@ -794,7 +1034,7 @@ int target_init(struct command_context *cmd_ctx)
                return retval;
 
        retval = target_register_timer_callback(&handle_target,
-                       100, 1, cmd_ctx->interp);
+                       polling_interval, 1, cmd_ctx->interp);
        if (ERROR_OK != retval)
                return retval;
 
@@ -907,7 +1147,7 @@ int target_unregister_event_callback(int (*callback)(struct target *target, enum
        return ERROR_OK;
 }
 
-int target_unregister_timer_callback(int (*callback)(void *priv), void *priv)
+static int target_unregister_timer_callback(int (*callback)(void *priv), void *priv)
 {
        struct target_timer_callback **p = &target_timer_callbacks;
        struct target_timer_callback *c = target_timer_callbacks;
@@ -1030,7 +1270,7 @@ int target_call_timer_callbacks_now(void)
        return target_call_timer_callbacks_check_time(0);
 }
 
-int target_alloc_working_area(struct target *target, uint32_t size, struct working_area **area)
+int target_alloc_working_area_try(struct target *target, uint32_t size, struct working_area **area)
 {
        struct working_area *c = target->working_areas;
        struct working_area *new_wa = NULL;
@@ -1108,8 +1348,6 @@ int target_alloc_working_area(struct target *target, uint32_t size, struct worki
 
                if (free_size < size)
                {
-                       LOG_WARNING("not enough working area available(requested %u, free %u)",
-                                   (unsigned)(size), (unsigned)(free_size));
                        return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
                }
 
@@ -1141,7 +1379,7 @@ int target_alloc_working_area(struct target *target, uint32_t size, struct worki
        }
 
        /* mark as used, and return the new (reused) area */
-       new_wa->free = 0;
+       new_wa->free = false;
        *area = new_wa;
 
        /* user pointer */
@@ -1150,7 +1388,20 @@ int target_alloc_working_area(struct target *target, uint32_t size, struct worki
        return ERROR_OK;
 }
 
-int target_free_working_area_restore(struct target *target, struct working_area *area, int restore)
+int target_alloc_working_area(struct target *target, uint32_t size, struct working_area **area)
+{
+       int retval;
+
+       retval = target_alloc_working_area_try(target, size, area);
+       if (retval == ERROR_TARGET_RESOURCE_NOT_AVAILABLE)
+       {
+               LOG_WARNING("not enough working area available(requested %u)", (unsigned)(size));
+       }
+       return retval;
+
+}
+
+static int target_free_working_area_restore(struct target *target, struct working_area *area, int restore)
 {
        if (area->free)
                return ERROR_OK;
@@ -1162,7 +1413,7 @@ int target_free_working_area_restore(struct target *target, struct working_area
                        return retval;
        }
 
-       area->free = 1;
+       area->free = true;
 
        /* mark user pointer invalid */
        *area->user = NULL;
@@ -1179,7 +1430,7 @@ int target_free_working_area(struct target *target, struct working_area *area)
 /* free resources and restore memory, if restoring memory fails,
  * free up resources anyway
  */
-void target_free_all_working_areas_restore(struct target *target, int restore)
+static void target_free_all_working_areas_restore(struct target *target, int restore)
 {
        struct working_area *c = target->working_areas;
 
@@ -1226,9 +1477,8 @@ int target_arch_state(struct target *target)
  * mode respectively, otherwise data is handled as quickly as
  * possible
  */
-int target_write_buffer(struct target *target, uint32_t address, uint32_t size, uint8_t *buffer)
+int target_write_buffer(struct target *target, uint32_t address, uint32_t size, const uint8_t *buffer)
 {
-       int retval;
        LOG_DEBUG("writing buffer of %i byte at 0x%8.8x",
                  (int)size, (unsigned)address);
 
@@ -1251,6 +1501,13 @@ int target_write_buffer(struct target *target, uint32_t address, uint32_t size,
                return ERROR_FAIL;
        }
 
+       return target->type->write_buffer(target, address, size, buffer);
+}
+
+static int target_write_buffer_default(struct target *target, uint32_t address, uint32_t size, const uint8_t *buffer)
+{
+       int retval = ERROR_OK;
+
        if (((address % 2) == 0) && (size == 2))
        {
                return target_write_memory(target, address, 2, 1, buffer);
@@ -1301,7 +1558,7 @@ int target_write_buffer(struct target *target, uint32_t address, uint32_t size,
                        return retval;
        }
 
-       return ERROR_OK;
+       return retval;
 }
 
 /* Single aligned words are guaranteed to use 16 or 32 bit access
@@ -1310,7 +1567,6 @@ int target_write_buffer(struct target *target, uint32_t address, uint32_t size,
  */
 int target_read_buffer(struct target *target, uint32_t address, uint32_t size, uint8_t *buffer)
 {
-       int retval;
        LOG_DEBUG("reading buffer of %i byte at 0x%8.8x",
                          (int)size, (unsigned)address);
 
@@ -1333,6 +1589,13 @@ int target_read_buffer(struct target *target, uint32_t address, uint32_t size, u
                return ERROR_FAIL;
        }
 
+       return target->type->read_buffer(target, address, size, buffer);
+}
+
+static int target_read_buffer_default(struct target *target, uint32_t address, uint32_t size, uint8_t *buffer)
+{
+       int retval = ERROR_OK;
+
        if (((address % 2) == 0) && (size == 2))
        {
                return target_read_memory(target, address, 2, 1, buffer);
@@ -1417,7 +1680,7 @@ int target_checksum_memory(struct target *target, uint32_t address, uint32_t siz
                        return retval;
                }
 
-               /* convert to target endianess */
+               /* convert to target endianness */
                for (i = 0; i < (size/sizeof(uint32_t)); i++)
                {
                        uint32_t target_data;
@@ -1721,14 +1984,8 @@ static int sense_handler(void)
        return ERROR_OK;
 }
 
-static void target_call_event_callbacks_all(enum target_event e) {
-       struct target *target;
-       target = all_targets;
-       while (target) {
-               target_call_event_callbacks(target, e);
-               target = target->next;
-       }
-}
+static int backoff_times = 0;
+static int backoff_count = 0;
 
 /* process target state changes */
 static int handle_target(void *priv)
@@ -1736,6 +1993,12 @@ static int handle_target(void *priv)
        Jim_Interp *interp = (Jim_Interp *)priv;
        int retval = ERROR_OK;
 
+       if (!is_jtag_poll_safe())
+       {
+               /* polling is disabled currently */
+               return ERROR_OK;
+       }
+
        /* we do not want to recurse here... */
        static int recursive = 0;
        if (! recursive)
@@ -1749,7 +2012,7 @@ static int handle_target(void *priv)
                int did_something = 0;
                if (runSrstAsserted)
                {
-                       target_call_event_callbacks_all(TARGET_EVENT_GDB_HALT);
+                       LOG_INFO("srst asserted detected, running srst_asserted proc.");
                        Jim_Eval(interp, "srst_asserted");
                        did_something = 1;
                }
@@ -1760,7 +2023,7 @@ static int handle_target(void *priv)
                }
                if (runPowerDropout)
                {
-                       target_call_event_callbacks_all(TARGET_EVENT_GDB_HALT);
+                       LOG_INFO("Power dropout detected, running power_dropout proc.");
                        Jim_Eval(interp, "power_dropout");
                        did_something = 1;
                }
@@ -1786,6 +2049,14 @@ static int handle_target(void *priv)
                recursive = 0;
        }
 
+       if (backoff_times > backoff_count)
+       {
+               /* do not poll this time as we failed previously */
+               backoff_count++;
+               return ERROR_OK;
+       }
+       backoff_count = 0;
+
        /* Poll targets for state changes unless that's globally disabled.
         * Skip targets that are currently disabled.
         */
@@ -1802,9 +2073,26 @@ static int handle_target(void *priv)
                        /* polling may fail silently until the target has been examined */
                        if ((retval = target_poll(target)) != ERROR_OK)
                        {
+                               /* 100ms polling interval. Increase interval between polling up to 5000ms */
+                               if (backoff_times * polling_interval < 5000)
+                               {
+                                       backoff_times *= 2;
+                                       backoff_times++;
+                               }
+                               LOG_USER("Polling target failed, GDB will be halted. Polling again in %dms", backoff_times * polling_interval);
+
+                               /* Tell GDB to halt the debugger. This allows the user to
+                                * run monitor commands to handle the situation.
+                                */
                                target_call_event_callbacks(target, TARGET_EVENT_GDB_HALT);
                                return retval;
                        }
+                       /* Since we succeeded, we reset backoff count */
+                       if (backoff_times > 0)
+                       {
+                               LOG_USER("Polling succeeded again");
+                       }
+                       backoff_times = 0;
                }
        }
 
@@ -2051,11 +2339,11 @@ COMMAND_HANDLER(handle_halt_command)
 
        if (CMD_ARGC == 1)
        {
-               unsigned wait;
-               retval = parse_uint(CMD_ARGV[0], &wait);
+               unsigned wait_local;
+               retval = parse_uint(CMD_ARGV[0], &wait_local);
                if (ERROR_OK != retval)
                        return ERROR_COMMAND_SYNTAX_ERROR;
-               if (!wait)
+               if (!wait_local)
                        return ERROR_OK;
        }
 
@@ -2152,7 +2440,7 @@ static void handle_md_output(struct command_context *cmd_ctx,
        const char *value_fmt;
        switch (size) {
        case 4: value_fmt = "%8.8x "; break;
-       case 2: value_fmt = "%4.2x "; break;
+       case 2: value_fmt = "%4.4x "; break;
        case 1: value_fmt = "%2.2x "; break;
        default:
                /* "can't happen", caller checked */
@@ -2204,7 +2492,7 @@ COMMAND_HANDLER(handle_md_command)
 
        bool physical=strcmp(CMD_ARGV[0], "phys")==0;
        int (*fn)(struct target *target,
-                       uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer);
+                       uint32_t address, uint32_t size_value, uint32_t count, uint8_t *buffer);
        if (physical)
        {
                CMD_ARGC--;
@@ -2238,6 +2526,76 @@ COMMAND_HANDLER(handle_md_command)
        return retval;
 }
 
+typedef int (*target_write_fn)(struct target *target,
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer);
+
+static int target_write_memory_fast(struct target *target,
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer)
+{
+       return target_write_buffer(target, address, size * count, buffer);
+}
+
+static int target_fill_mem(struct target *target,
+               uint32_t address,
+               target_write_fn fn,
+               unsigned data_size,
+               /* value */
+               uint32_t b,
+               /* count */
+               unsigned c)
+{
+       /* We have to write in reasonably large chunks to be able
+        * to fill large memory areas with any sane speed */
+       const unsigned chunk_size = 16384;
+       uint8_t *target_buf = malloc(chunk_size * data_size);
+       if (target_buf == NULL)
+       {
+               LOG_ERROR("Out of memory");
+               return ERROR_FAIL;
+       }
+
+       for (unsigned i = 0; i < chunk_size; i ++)
+       {
+               switch (data_size)
+               {
+               case 4:
+                       target_buffer_set_u32(target, target_buf + i*data_size, b);
+                       break;
+               case 2:
+                       target_buffer_set_u16(target, target_buf + i*data_size, b);
+                       break;
+               case 1:
+                       target_buffer_set_u8(target, target_buf + i*data_size, b);
+                       break;
+               default:
+                       exit(-1);
+               }
+       }
+
+       int retval = ERROR_OK;
+
+       for (unsigned x = 0; x < c; x += chunk_size)
+       {
+               unsigned current;
+               current = c - x;
+               if (current > chunk_size)
+               {
+                       current = chunk_size;
+               }
+               retval = fn(target, address + x * data_size, data_size, current, target_buf);
+               if (retval != ERROR_OK)
+               {
+                       break;
+               }
+               /* avoid GDB timeouts */
+               keep_alive();
+       }
+       free(target_buf);
+
+       return retval;
+}
+
+
 COMMAND_HANDLER(handle_mw_command)
 {
        if (CMD_ARGC < 2)
@@ -2245,8 +2603,7 @@ COMMAND_HANDLER(handle_mw_command)
                return ERROR_COMMAND_SYNTAX_ERROR;
        }
        bool physical=strcmp(CMD_ARGV[0], "phys")==0;
-       int (*fn)(struct target *target,
-                       uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer);
+       target_write_fn fn;
        if (physical)
        {
                CMD_ARGC--;
@@ -2254,7 +2611,7 @@ COMMAND_HANDLER(handle_mw_command)
                fn=target_write_phys_memory;
        } else
        {
-               fn=target_write_memory;
+               fn = target_write_memory_fast;
        }
        if ((CMD_ARGC < 2) || (CMD_ARGC > 3))
                return ERROR_COMMAND_SYNTAX_ERROR;
@@ -2271,35 +2628,22 @@ COMMAND_HANDLER(handle_mw_command)
 
        struct target *target = get_current_target(CMD_CTX);
        unsigned wordsize;
-       uint8_t value_buf[4];
        switch (CMD_NAME[2])
        {
                case 'w':
                        wordsize = 4;
-                       target_buffer_set_u32(target, value_buf, value);
                        break;
                case 'h':
                        wordsize = 2;
-                       target_buffer_set_u16(target, value_buf, value);
                        break;
                case 'b':
                        wordsize = 1;
-                       value_buf[0] = value;
                        break;
                default:
                        return ERROR_COMMAND_SYNTAX_ERROR;
        }
-       for (unsigned i = 0; i < count; i++)
-       {
-               int retval = fn(target,
-                               address + i * wordsize, wordsize, 1, value_buf);
-               if (ERROR_OK != retval)
-                       return retval;
-               keep_alive();
-       }
-
-       return ERROR_OK;
 
+       return target_fill_mem(target, address, fn, wordsize, value, count);
 }
 
 static COMMAND_HELPER(parse_load_image_command_CMD_ARGV, struct image *image,
@@ -2420,7 +2764,7 @@ COMMAND_HANDLER(handle_load_image_command)
        if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
        {
                command_print(CMD_CTX, "downloaded %" PRIu32 " bytes "
-                               "in %fs (%0.3f kb/s)", image_size,
+                               "in %fs (%0.3f KiB/s)", image_size,
                                duration_elapsed(&bench), duration_kbps(&bench, image_size));
        }
 
@@ -2433,33 +2777,25 @@ COMMAND_HANDLER(handle_load_image_command)
 COMMAND_HANDLER(handle_dump_image_command)
 {
        struct fileio fileio;
-
        uint8_t buffer[560];
-       int retvaltemp;
-
-
+       int retval, retvaltemp;
+       uint32_t address, size;
+       struct duration bench;
        struct target *target = get_current_target(CMD_CTX);
 
        if (CMD_ARGC != 3)
-       {
-               command_print(CMD_CTX, "usage: dump_image <filename> <address> <size>");
-               return ERROR_OK;
-       }
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-       uint32_t address;
        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], address);
-       uint32_t size;
        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[2], size);
 
-       if (fileio_open(&fileio, CMD_ARGV[0], FILEIO_WRITE, FILEIO_BINARY) != ERROR_OK)
-       {
-               return ERROR_OK;
-       }
+       retval = fileio_open(&fileio, CMD_ARGV[0], FILEIO_WRITE, FILEIO_BINARY);
+       if (retval != ERROR_OK)
+               return retval;
 
-       struct duration bench;
        duration_start(&bench);
 
-       int retval = ERROR_OK;
+       retval = ERROR_OK;
        while (size > 0)
        {
                size_t size_written;
@@ -2480,16 +2816,20 @@ COMMAND_HANDLER(handle_dump_image_command)
                address += this_run_size;
        }
 
-       if ((retvaltemp = fileio_close(&fileio)) != ERROR_OK)
-               return retvaltemp;
-
        if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
        {
+               int filesize;
+               retval = fileio_size(&fileio, &filesize);
+               if (retval != ERROR_OK)
+                       return retval;
                command_print(CMD_CTX,
-                               "dumped %zu bytes in %fs (%0.3f kb/s)", fileio.size,
-                               duration_elapsed(&bench), duration_kbps(&bench, fileio.size));
+                               "dumped %ld bytes in %fs (%0.3f KiB/s)", (long)filesize,
+                               duration_elapsed(&bench), duration_kbps(&bench, filesize));
        }
 
+       if ((retvaltemp = fileio_close(&fileio)) != ERROR_OK)
+               return retvaltemp;
+
        return retval;
 }
 
@@ -2542,6 +2882,7 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
        }
 
        image_size = 0x0;
+       int diffs = 0;
        retval = ERROR_OK;
        for (i = 0; i < image.num_sections; i++)
        {
@@ -2562,7 +2903,12 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
                if (verify)
                {
                        /* calculate checksum of image */
-                       image_calculate_checksum(buffer, buf_cnt, &checksum);
+                       retval = image_calculate_checksum(buffer, buf_cnt, &checksum);
+                       if (retval != ERROR_OK)
+                       {
+                               free(buffer);
+                               break;
+                       }
 
                        retval = target_checksum_memory(target, image.sections[i].base_address, buf_cnt, &mem_checksum);
                        if (retval != ERROR_OK)
@@ -2576,7 +2922,10 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
                                /* failed crc checksum, fall back to a binary compare */
                                uint8_t *data;
 
-                               command_print(CMD_CTX, "checksum mismatch - attempting binary compare");
+                               if (diffs == 0)
+                               {
+                                       LOG_ERROR("checksum mismatch - attempting binary compare");
+                               }
 
                                data = (uint8_t*)malloc(buf_cnt);
 
@@ -2597,22 +2946,22 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
                                                if (data[t] != buffer[t])
                                                {
                                                        command_print(CMD_CTX,
-                                                                                 "Verify operation failed address 0x%08x. Was 0x%02x instead of 0x%02x\n",
+                                                                                 "diff %d address 0x%08x. Was 0x%02x instead of 0x%02x",
+                                                                                 diffs,
                                                                                  (unsigned)(t + image.sections[i].base_address),
                                                                                  data[t],
                                                                                  buffer[t]);
-                                                       free(data);
-                                                       free(buffer);
-                                                       retval = ERROR_FAIL;
-                                                       goto done;
-                                               }
-                                               if ((t%16384) == 0)
-                                               {
-                                                       keep_alive();
+                                                       if (diffs++ >= 127)
+                                                       {
+                                                               command_print(CMD_CTX, "More than 128 errors, the rest are not printed.");
+                                                               free(data);
+                                                               free(buffer);
+                                                               goto done;
+                                                       }
                                                }
+                                               keep_alive();
                                        }
                                }
-
                                free(data);
                        }
                } else
@@ -2625,11 +2974,19 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
                free(buffer);
                image_size += buf_cnt;
        }
+       if (diffs > 0)
+       {
+               command_print(CMD_CTX, "No more differences found.");
+       }
 done:
+       if (diffs > 0)
+       {
+               retval = ERROR_FAIL;
+       }
        if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
        {
                command_print(CMD_CTX, "verified %" PRIu32 " bytes "
-                               "in %fs (%0.3f kb/s)", image_size,
+                               "in %fs (%0.3f KiB/s)", image_size,
                                duration_elapsed(&bench), duration_kbps(&bench, image_size));
        }
 
@@ -2658,7 +3015,7 @@ static int handle_bp_command_list(struct command_context *cmd_ctx)
                {
                        char* buf = buf_to_str(breakpoint->orig_instr,
                                        breakpoint->length, 16);
-                       command_print(cmd_ctx, "0x%8.8" PRIx32 ", 0x%x, %i, 0x%s",
+                       command_print(cmd_ctx, "IVA breakpoint: 0x%8.8" PRIx32 ", 0x%x, %i, 0x%s",
                                        breakpoint->address,
                                        breakpoint->length,
                                        breakpoint->set, buf);
@@ -2666,9 +3023,22 @@ static int handle_bp_command_list(struct command_context *cmd_ctx)
                }
                else
                {
-                       command_print(cmd_ctx, "0x%8.8" PRIx32 ", 0x%x, %i",
-                                                 breakpoint->address,
-                                                 breakpoint->length, breakpoint->set);
+                       if ((breakpoint->address == 0) && (breakpoint->asid != 0))
+                               command_print(cmd_ctx, "Context breakpoint: 0x%8.8" PRIx32 ", 0x%x, %i",
+                                                       breakpoint->asid,
+                                                       breakpoint->length, breakpoint->set);
+                       else if ((breakpoint->address != 0) && (breakpoint->asid != 0))
+                       {
+                               command_print(cmd_ctx, "Hybrid breakpoint(IVA): 0x%8.8" PRIx32 ", 0x%x, %i",
+                                                       breakpoint->address,
+                                                       breakpoint->length, breakpoint->set);
+                               command_print(cmd_ctx, "\t|--->linked with ContextID: 0x%8.8" PRIx32,
+                                                       breakpoint->asid);
+                       }
+                       else
+                               command_print(cmd_ctx, "Breakpoint(IVA): 0x%8.8" PRIx32 ", 0x%x, %i",
+                                                       breakpoint->address,
+                                                       breakpoint->length, breakpoint->set);
                }
 
                breakpoint = breakpoint->next;
@@ -2677,43 +3047,90 @@ static int handle_bp_command_list(struct command_context *cmd_ctx)
 }
 
 static int handle_bp_command_set(struct command_context *cmd_ctx,
-               uint32_t addr, uint32_t length, int hw)
+               uint32_t addr, uint32_t asid, uint32_t length, int hw)
 {
        struct target *target = get_current_target(cmd_ctx);
-       int retval = breakpoint_add(target, addr, length, hw);
-       if (ERROR_OK == retval)
-               command_print(cmd_ctx, "breakpoint set at 0x%8.8" PRIx32 "", addr);
-       else
-               LOG_ERROR("Failure setting breakpoint");
-       return retval;
+       
+               if (asid == 0)
+               {       int retval = breakpoint_add(target, addr, length, hw);
+                       if (ERROR_OK == retval)
+                               command_print(cmd_ctx, "breakpoint set at 0x%8.8" PRIx32 "", addr);
+                       else
+                       {
+                               LOG_ERROR("Failure setting breakpoint, the same address(IVA) is already used");
+                               return retval;
+                       }
+               }
+               else if (addr == 0)
+               {
+                       int retval = context_breakpoint_add(target, asid, length, hw);
+                       if (ERROR_OK == retval)
+                               command_print(cmd_ctx, "Context breakpoint set at 0x%8.8" PRIx32 "", asid);
+                       else
+                       {
+                               LOG_ERROR("Failure setting breakpoint, the same address(CONTEXTID) is already used");
+                               return retval;
+                       }
+               }
+               else
+               {       
+                       int retval = hybrid_breakpoint_add(target, addr, asid, length, hw);
+                       if(ERROR_OK == retval)
+                       command_print(cmd_ctx, "Hybrid breakpoint set at 0x%8.8" PRIx32 "", asid);
+                       else
+                       {
+                               LOG_ERROR("Failure setting breakpoint, the same address is already used");
+                               return retval;
+                       }
+               }
+       return ERROR_OK;
+
+       
 }
 
 COMMAND_HANDLER(handle_bp_command)
 {
-       if (CMD_ARGC == 0)
-               return handle_bp_command_list(CMD_CTX);
-
-       if (CMD_ARGC < 2 || CMD_ARGC > 3)
-       {
-               command_print(CMD_CTX, "usage: bp <address> <length> ['hw']");
-               return ERROR_COMMAND_SYNTAX_ERROR;
-       }
-
        uint32_t addr;
-       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
+       uint32_t asid;
        uint32_t length;
-       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
-
        int hw = BKPT_SOFT;
-       if (CMD_ARGC == 3)
+       switch(CMD_ARGC)
        {
-               if (strcmp(CMD_ARGV[2], "hw") == 0)
+               case 0:
+                       return handle_bp_command_list(CMD_CTX);
+               case 3:
+
+                       if(strcmp(CMD_ARGV[2], "hw") == 0)
+                       {
+                               hw = BKPT_HARD;
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
+
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
+
+                               asid = 0;
+                               return handle_bp_command_set(CMD_CTX, addr, asid, length, hw);
+                       }
+                       else if(strcmp(CMD_ARGV[2], "hw_ctx") == 0)
+                       {
+                               hw = BKPT_HARD;
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], asid);
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
+                               addr = 0;
+                               return handle_bp_command_set(CMD_CTX, addr, asid, length, hw);
+                       }
+
+               case 4:
                        hw = BKPT_HARD;
-               else
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], asid);
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[2], length);
+                       return handle_bp_command_set(CMD_CTX, addr, asid, length, hw);
+               default:
+                       command_print(CMD_CTX, "usage: bp <address> [<asid>]<length> ['hw'|'hw_ctx']");
                        return ERROR_COMMAND_SYNTAX_ERROR;
        }
 
-       return handle_bp_command_set(CMD_CTX, addr, length, hw);
+       
 }
 
 COMMAND_HANDLER(handle_rbp_command)
@@ -2898,7 +3315,7 @@ static void writeGmon(uint32_t *samples, uint32_t sampleNum, const char *filenam
 
        int addressSpace = (max-min + 1);
 
-       static const uint32_t maxBuckets = 256 * 1024; /* maximum buckets. */
+       static const uint32_t maxBuckets = 16 * 1024; /* maximum buckets. */
        uint32_t length = addressSpace;
        if (length > maxBuckets)
        {
@@ -2917,15 +3334,15 @@ static void writeGmon(uint32_t *samples, uint32_t sampleNum, const char *filenam
                long long a = address-min;
                long long b = length-1;
                long long c = addressSpace-1;
-               int index = (a*b)/c; /* danger!!!! int32 overflows */
-               buckets[index]++;
+               int index_t = (a*b)/c; /* danger!!!! int32 overflows */
+               buckets[index_t]++;
        }
 
        /* append binary memory gmon.out &profile_hist_hdr ((char*)&profile_hist_hdr + sizeof(struct gmon_hist_hdr)) */
        writeLong(f, min);                      /* low_pc */
        writeLong(f, max);                      /* high_pc */
        writeLong(f, length);           /* # of samples */
-       writeLong(f, 64000000);         /* 64MHz */
+       writeLong(f, 100);                      /* KLUDGE! We lie, ca. 100Hz best case. */
        writeString(f, "seconds");
        for (i = 0; i < (15-strlen("seconds")); i++)
                writeData(f, &zero, 1);
@@ -2958,7 +3375,8 @@ static void writeGmon(uint32_t *samples, uint32_t sampleNum, const char *filenam
        fclose(f);
 }
 
-/* profiling samples the CPU PC as quickly as OpenOCD is able, which will be used as a random sampling of PC */
+/* profiling samples the CPU PC as quickly as OpenOCD is able,
+ * which will be used as a random sampling of PC */
 COMMAND_HANDLER(handle_profile_command)
 {
        struct target *target = get_current_target(CMD_CTX);
@@ -2974,6 +3392,12 @@ COMMAND_HANDLER(handle_profile_command)
 
        timeval_add_time(&timeout, offset, 0);
 
+       /**
+        * @todo: Some cores let us sample the PC without the
+        * annoying halt/resume step; for example, ARMv7 PCSR.
+        * Provide a way to use that more efficient mechanism.
+        */
+
        command_print(CMD_CTX, "Starting profiling. Halting and resuming the target as often as we can...");
 
        static const int maxSample = 10000;
@@ -3076,12 +3500,9 @@ static int jim_mem2array(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        struct command_context *context;
        struct target *target;
 
-       context = Jim_GetAssocData(interp, "context");
-       if (context == NULL)
-       {
-               LOG_ERROR("mem2array: no command context");
-               return JIM_ERR;
-       }
+       context = current_command_context(interp);
+       assert (context != NULL);
+
        target = get_current_target(context);
        if (target == NULL)
        {
@@ -3272,11 +3693,9 @@ static int jim_array2mem(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        struct command_context *context;
        struct target *target;
 
-       context = Jim_GetAssocData(interp, "context");
-       if (context == NULL) {
-               LOG_ERROR("array2mem: no command context");
-               return JIM_ERR;
-       }
+       context = current_command_context(interp);
+       assert (context != NULL);
+
        target = get_current_target(context);
        if (target == NULL) {
                LOG_ERROR("array2mem: no current target");
@@ -3285,7 +3704,9 @@ static int jim_array2mem(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 
        return target_array2mem(interp,target, argc-1, argv + 1);
 }
-static int target_array2mem(Jim_Interp *interp, struct target *target, int argc, Jim_Obj *const *argv)
+
+static int target_array2mem(Jim_Interp *interp, struct target *target,
+               int argc, Jim_Obj *const *argv)
 {
        long l;
        uint32_t width;
@@ -3429,22 +3850,6 @@ static int target_array2mem(Jim_Interp *interp, struct target *target, int argc,
        return JIM_OK;
 }
 
-void target_all_handle_event(enum target_event e)
-{
-       struct target *target;
-
-       LOG_DEBUG("**all*targets: event: %d, %s",
-                          (int)e,
-                          Jim_Nvp_value2name_simple(nvp_target_event, e)->name);
-
-       target = all_targets;
-       while (target) {
-               target_handle_event(target, e);
-               target = target->next;
-       }
-}
-
-
 /* FIX? should we propagate errors here rather than printing them
  * and continuing?
  */
@@ -3463,7 +3868,8 @@ void target_handle_event(struct target *target, enum target_event e)
                                           Jim_GetString(teap->body, NULL));
                        if (Jim_EvalObj(teap->interp, teap->body) != JIM_OK)
                        {
-                               Jim_PrintErrorMessage(teap->interp);
+                               Jim_MakeErrorMessage(teap->interp);
+                               command_print(NULL,"%s\n", Jim_GetString(Jim_GetResult(teap->interp), NULL));
                        }
                }
        }
@@ -3492,7 +3898,10 @@ enum target_cfg_param {
        TCFG_WORK_AREA_BACKUP,
        TCFG_ENDIAN,
        TCFG_VARIANT,
+       TCFG_COREID,
        TCFG_CHAIN_POSITION,
+       TCFG_DBGBASE,
+       TCFG_RTOS,
 };
 
 static Jim_Nvp nvp_config_opts[] = {
@@ -3504,8 +3913,10 @@ static Jim_Nvp nvp_config_opts[] = {
        { .name = "-work-area-backup", .value = TCFG_WORK_AREA_BACKUP },
        { .name = "-endian" ,          .value = TCFG_ENDIAN },
        { .name = "-variant",          .value = TCFG_VARIANT },
+       { .name = "-coreid",           .value = TCFG_COREID },
        { .name = "-chain-position",   .value = TCFG_CHAIN_POSITION },
-
+       { .name = "-dbgbase",          .value = TCFG_DBGBASE },
+       { .name = "-rtos",             .value = TCFG_RTOS },
        { .name = NULL, .value = -1 }
 };
 
@@ -3545,7 +3956,7 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                case TCFG_TYPE:
                        /* not setable */
                        if (goi->isconfigure) {
-                               Jim_SetResult_sprintf(goi->interp,
+                               Jim_SetResultFormatted(goi->interp,
                                                "not settable: %s", n->name);
                                return JIM_ERR;
                        } else {
@@ -3713,6 +4124,7 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                        /* loop for more e*/
                        break;
 
+
                case TCFG_ENDIAN:
                        if (goi->isconfigure) {
                                e = Jim_GetOpt_Nvp(goi, nvp_target_endian, &n);
@@ -3738,7 +4150,7 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                case TCFG_VARIANT:
                        if (goi->isconfigure) {
                                if (goi->argc < 1) {
-                                       Jim_SetResult_sprintf(goi->interp,
+                                       Jim_SetResultFormatted(goi->interp,
                                                                                   "%s ?STRING?",
                                                                                   n->name);
                                        return JIM_ERR;
@@ -3756,16 +4168,33 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                        Jim_SetResultString(goi->interp, target->variant,-1);
                        /* loop for more */
                        break;
+
+               case TCFG_COREID:
+                       if (goi->isconfigure) {
+                               e = Jim_GetOpt_Wide(goi, &w);
+                               if (e != JIM_OK) {
+                                       return e;
+                               }
+                               target->coreid = (int32_t)w;
+                       } else {
+                               if (goi->argc != 0) {
+                                       goto no_params;
+                               }
+                       }
+                       Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->working_area_size));
+                       /* loop for more */
+                       break;
+
                case TCFG_CHAIN_POSITION:
                        if (goi->isconfigure) {
-                               Jim_Obj *o;
+                               Jim_Obj *o_t;
                                struct jtag_tap *tap;
                                target_free_all_working_areas(target);
-                               e = Jim_GetOpt_Obj(goi, &o);
+                               e = Jim_GetOpt_Obj(goi, &o_t);
                                if (e != JIM_OK) {
                                        return e;
                                }
-                               tap = jtag_tap_by_jim_obj(goi->interp, o);
+                               tap = jtag_tap_by_jim_obj(goi->interp, o_t);
                                if (tap == NULL) {
                                        return JIM_ERR;
                                }
@@ -3779,6 +4208,34 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                        Jim_SetResultString(goi->interp, target->tap->dotted_name, -1);
                        /* loop for more e*/
                        break;
+               case TCFG_DBGBASE:
+                       if (goi->isconfigure) {
+                               e = Jim_GetOpt_Wide(goi, &w);
+                               if (e != JIM_OK) {
+                                       return e;
+                               }
+                               target->dbgbase = (uint32_t)w;
+                               target->dbgbase_set = true;
+                       } else {
+                               if (goi->argc != 0) {
+                                       goto no_params;
+                               }
+                       }
+                       Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->dbgbase));
+                       /* loop for more */
+                       break;
+
+               case TCFG_RTOS:
+                       /* RTOS */
+                       {
+                               int result = rtos_create( goi, target );
+                               if ( result != JIM_OK )
+                               {
+                                       return result;
+                               }
+                       }
+                       /* loop for more */
+                       break;
                }
        } /* while (goi->argc) */
 
@@ -3787,11 +4244,13 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
        return JIM_OK;
 }
 
-static int jim_target_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+static int
+jim_target_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
        Jim_GetOptInfo goi;
+
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
-       goi.isconfigure = strcmp(Jim_GetString(argv[0], NULL), "configure") == 0;
+       goi.isconfigure = !strcmp(Jim_GetString(argv[0], NULL), "configure");
        int need_args = 1 + goi.isconfigure;
        if (goi.argc < need_args)
        {
@@ -3812,15 +4271,30 @@ static int jim_target_mw(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        Jim_GetOptInfo goi;
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
 
-       if (goi.argc != 2 && goi.argc != 3)
+       if (goi.argc < 2 || goi.argc > 4)
        {
-               Jim_SetResult_sprintf(goi.interp,
-                               "usage: %s <address> <data> [<count>]", cmd_name);
+               Jim_SetResultFormatted(goi.interp,
+                               "usage: %s [phys] <address> <data> [<count>]", cmd_name);
                return JIM_ERR;
        }
 
+       target_write_fn fn;
+       fn = target_write_memory_fast;
+
+       int e;
+       if (strcmp(Jim_GetString(argv[1], NULL), "phys") == 0)
+       {
+               /* consume it */
+               struct Jim_Obj *obj;
+               e = Jim_GetOpt_Obj(&goi, &obj);
+               if (e != JIM_OK)
+                       return e;
+
+               fn = target_write_phys_memory;
+       }
+
        jim_wide a;
-       int e = Jim_GetOpt_Wide(&goi, &a);
+       e = Jim_GetOpt_Wide(&goi, &a);
        if (e != JIM_OK)
                return e;
 
@@ -3830,44 +4304,35 @@ static int jim_target_mw(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                return e;
 
        jim_wide c = 1;
-       if (goi.argc == 3)
+       if (goi.argc == 1)
        {
                e = Jim_GetOpt_Wide(&goi, &c);
                if (e != JIM_OK)
                        return e;
        }
 
+       /* all args must be consumed */
+       if (goi.argc != 0)
+       {
+               return JIM_ERR;
+       }
+
        struct target *target = Jim_CmdPrivData(goi.interp);
-       uint8_t  target_buf[32];
+       unsigned data_size;
        if (strcasecmp(cmd_name, "mww") == 0) {
-               target_buffer_set_u32(target, target_buf, b);
-               b = 4;
+               data_size = 4;
        }
        else if (strcasecmp(cmd_name, "mwh") == 0) {
-               target_buffer_set_u16(target, target_buf, b);
-               b = 2;
+               data_size = 2;
        }
        else if (strcasecmp(cmd_name, "mwb") == 0) {
-               target_buffer_set_u8(target, target_buf, b);
-               b = 1;
+               data_size = 1;
        } else {
                LOG_ERROR("command '%s' unknown: ", cmd_name);
                return JIM_ERR;
        }
 
-       for (jim_wide x = 0; x < c; x++)
-       {
-               e = target_write_memory(target, a, b, 1, target_buf);
-               if (e != ERROR_OK)
-               {
-                       Jim_SetResult_sprintf(interp,
-                                       "Error writing @ 0x%08x: %d\n", (int)(a), e);
-                       return JIM_ERR;
-               }
-               /* b = width */
-               a = a + b;
-       }
-       return JIM_OK;
+       return (target_fill_mem(target, a, fn, data_size, b, c) == ERROR_OK) ? JIM_OK : JIM_ERR;
 }
 
 static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
@@ -3877,20 +4342,36 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        Jim_GetOptInfo goi;
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
 
-       if ((goi.argc == 2) || (goi.argc == 3))
+       if ((goi.argc < 1) || (goi.argc > 3))
        {
-               Jim_SetResult_sprintf(goi.interp,
-                               "usage: %s <address> [<count>]", cmd_name);
+               Jim_SetResultFormatted(goi.interp,
+                               "usage: %s [phys] <address> [<count>]", cmd_name);
                return JIM_ERR;
        }
 
+       int (*fn)(struct target *target,
+                       uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer);
+       fn=target_read_memory;
+
+       int e;
+       if (strcmp(Jim_GetString(argv[1], NULL), "phys") == 0)
+       {
+               /* consume it */
+               struct Jim_Obj *obj;
+               e = Jim_GetOpt_Obj(&goi, &obj);
+               if (e != JIM_OK)
+                       return e;
+
+               fn=target_read_phys_memory;
+       }
+
        jim_wide a;
-       int e = Jim_GetOpt_Wide(&goi, &a);
+       e = Jim_GetOpt_Wide(&goi, &a);
        if (e != JIM_OK) {
                return JIM_ERR;
        }
        jim_wide c;
-       if (goi.argc) {
+       if (goi.argc == 1) {
                e = Jim_GetOpt_Wide(&goi, &c);
                if (e != JIM_OK) {
                        return JIM_ERR;
@@ -3898,6 +4379,13 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        } else {
                c = 1;
        }
+
+       /* all args must be consumed */
+       if (goi.argc != 0)
+       {
+               return JIM_ERR;
+       }
+
        jim_wide b = 1; /* shut up gcc */
        if (strcasecmp(cmd_name, "mdw") == 0)
                b = 4;
@@ -3921,42 +4409,44 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                if (y > 16) {
                        y = 16;
                }
-               e = target_read_memory(target, a, b, y / b, target_buf);
+               e = fn(target, a, b, y / b, target_buf);
                if (e != ERROR_OK) {
-                       Jim_SetResult_sprintf(interp, "error reading target @ 0x%08lx", (int)(a));
+                       char tmp[10];
+                       snprintf(tmp, sizeof(tmp), "%08lx", (long)a);
+                       Jim_SetResultFormatted(interp, "error reading target @ 0x%s", tmp);
                        return JIM_ERR;
                }
 
-               Jim_fprintf(interp, interp->cookie_stdout, "0x%08x ", (int)(a));
+               command_print(NULL, "0x%08x ", (int)(a));
                switch (b) {
                case 4:
                        for (x = 0; x < 16 && x < y; x += 4)
                        {
-                               z = target_buffer_get_u32(target, &(target_buf[ x * 4 ]));
-                               Jim_fprintf(interp, interp->cookie_stdout, "%08x ", (int)(z));
+                               z = target_buffer_get_u32(target, &(target_buf[ x ]));
+                               command_print(NULL, "%08x ", (int)(z));
                        }
                        for (; (x < 16) ; x += 4) {
-                               Jim_fprintf(interp, interp->cookie_stdout, "         ");
+                               command_print(NULL, "         ");
                        }
                        break;
                case 2:
                        for (x = 0; x < 16 && x < y; x += 2)
                        {
-                               z = target_buffer_get_u16(target, &(target_buf[ x * 2 ]));
-                               Jim_fprintf(interp, interp->cookie_stdout, "%04x ", (int)(z));
+                               z = target_buffer_get_u16(target, &(target_buf[ x ]));
+                               command_print(NULL, "%04x ", (int)(z));
                        }
                        for (; (x < 16) ; x += 2) {
-                               Jim_fprintf(interp, interp->cookie_stdout, "     ");
+                               command_print(NULL, "     ");
                        }
                        break;
                case 1:
                default:
                        for (x = 0 ; (x < 16) && (x < y) ; x += 1) {
-                               z = target_buffer_get_u8(target, &(target_buf[ x * 4 ]));
-                               Jim_fprintf(interp, interp->cookie_stdout, "%02x ", (int)(z));
+                               z = target_buffer_get_u8(target, &(target_buf[ x ]));
+                               command_print(NULL, "%02x ", (int)(z));
                        }
                        for (; (x < 16) ; x += 1) {
-                               Jim_fprintf(interp, interp->cookie_stdout, "   ");
+                               command_print(NULL, "   ");
                        }
                        break;
                }
@@ -3978,7 +4468,7 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                /* terminate */
                target_buf[16] = 0;
                /* print - with a newline */
-               Jim_fprintf(interp, interp->cookie_stdout, "%s\n", target_buf);
+               command_print(NULL, "%s\n", target_buf);
                /* NEXT... */
                c -= 16;
                a += 16;
@@ -3986,13 +4476,15 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        return JIM_OK;
 }
 
-static int jim_target_mem2array(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+static int jim_target_mem2array(Jim_Interp *interp,
+               int argc, Jim_Obj *const *argv)
 {
        struct target *target = Jim_CmdPrivData(interp);
        return target_mem2array(interp, target, argc - 1, argv + 1);
 }
 
-static int jim_target_array2mem(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+static int jim_target_array2mem(Jim_Interp *interp,
+               int argc, Jim_Obj *const *argv)
 {
        struct target *target = Jim_CmdPrivData(interp);
        return target_array2mem(interp, target, argc - 1, argv + 1);
@@ -4000,7 +4492,7 @@ static int jim_target_array2mem(Jim_Interp *interp, int argc, Jim_Obj *const *ar
 
 static int jim_target_tap_disabled(Jim_Interp *interp)
 {
-       Jim_SetResult_sprintf(interp, "[TAP is disabled]");
+       Jim_SetResultFormatted(interp, "[TAP is disabled]");
        return JIM_ERR;
 }
 
@@ -4018,12 +4510,26 @@ static int jim_target_examine(Jim_Interp *interp, int argc, Jim_Obj *const *argv
        int e = target->type->examine(target);
        if (e != ERROR_OK)
        {
-               Jim_SetResult_sprintf(interp, "examine-fails: %d", e);
                return JIM_ERR;
        }
        return JIM_OK;
 }
 
+static int jim_target_halt_gdb(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+       if (argc != 1)
+       {
+               Jim_WrongNumArgs(interp, 1, argv, "[no parameters]");
+               return JIM_ERR;
+       }
+       struct target *target = Jim_CmdPrivData(interp);
+
+       if (target_call_event_callbacks(target, TARGET_EVENT_GDB_HALT) != ERROR_OK)
+               return JIM_ERR;
+
+       return JIM_OK;
+}
+
 static int jim_target_poll(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
        if (argc != 1)
@@ -4043,7 +4549,6 @@ static int jim_target_poll(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        }
        if (e != ERROR_OK)
        {
-               Jim_SetResult_sprintf(interp, "poll-fails: %d", e);
                return JIM_ERR;
        }
        return JIM_OK;
@@ -4077,9 +4582,14 @@ static int jim_target_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        struct target *target = Jim_CmdPrivData(goi.interp);
        if (!target->tap->enabled)
                return jim_target_tap_disabled(interp);
+       if (!(target_was_examined(target)))
+       {
+               LOG_ERROR("Target not examined yet");
+               return ERROR_TARGET_NOT_EXAMINED;
+       }
        if (!target->type->assert_reset || !target->type->deassert_reset)
        {
-               Jim_SetResult_sprintf(interp,
+               Jim_SetResultFormatted(interp,
                                "No target-specific reset for %s",
                                target_name(target));
                return JIM_ERR;
@@ -4120,7 +4630,7 @@ static int jim_target_wait_state(Jim_Interp *interp, int argc, Jim_Obj *const *a
        if (goi.argc != 2)
        {
                const char *cmd_name = Jim_GetString(argv[0], NULL);
-               Jim_SetResult_sprintf(goi.interp,
+               Jim_SetResultFormatted(goi.interp,
                                "%s <state_name> <timeout_in_msec>", cmd_name);
                return JIM_ERR;
        }
@@ -4143,10 +4653,12 @@ static int jim_target_wait_state(Jim_Interp *interp, int argc, Jim_Obj *const *a
        e = target_wait_state(target, n->value, a);
        if (e != ERROR_OK)
        {
-               Jim_SetResult_sprintf(goi.interp,
-                               "target: %s wait %s fails (%d) %s",
+               Jim_Obj *eObj = Jim_NewIntObj(interp, e);
+               Jim_SetResultFormatted(goi.interp,
+                               "target: %s wait %s fails (%#s) %s",
                                target_name(target), n->name,
-                               e, target_strerror_safe(e));
+                               eObj, target_strerror_safe(e));
+               Jim_FreeNewObj(interp, eObj);
                return JIM_ERR;
        }
        return JIM_OK;
@@ -4156,7 +4668,9 @@ static int jim_target_wait_state(Jim_Interp *interp, int argc, Jim_Obj *const *a
  */
 static int jim_target_event_list(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       struct command_context *cmd_ctx = Jim_GetAssocData(interp, "context");
+       struct command_context *cmd_ctx = current_command_context(interp);
+       assert (cmd_ctx != NULL);
+
        struct target *target = Jim_CmdPrivData(interp);
        struct target_event_action *teap = target->event_action;
        command_print(cmd_ctx, "Event actions for target (%d) %s\n",
@@ -4193,7 +4707,7 @@ static int jim_target_invoke_event(Jim_Interp *interp, int argc, Jim_Obj *const
        if (goi.argc != 1)
        {
                const char *cmd_name = Jim_GetString(argv[0], NULL);
-               Jim_SetResult_sprintf(goi.interp, "%s <eventname>", cmd_name);
+               Jim_SetResultFormatted(goi.interp, "%s <eventname>", cmd_name);
                return JIM_ERR;
        }
        Jim_Nvp *n;
@@ -4212,108 +4726,129 @@ static const struct command_registration target_instance_command_handlers[] = {
        {
                .name = "configure",
                .mode = COMMAND_CONFIG,
-               .jim_handler = &jim_target_configure,
-               .usage = "[<target_options> ...]",
+               .jim_handler = jim_target_configure,
                .help  = "configure a new target for use",
+               .usage = "[target_attribute ...]",
        },
        {
                .name = "cget",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_target_configure,
-               .usage = "<target_type> [<target_options> ...]",
-               .help  = "configure a new target for use",
+               .jim_handler = jim_target_configure,
+               .help  = "returns the specified target attribute",
+               .usage = "target_attribute",
        },
        {
                .name = "mww",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_mw,
-               .usage = "<address> <data> [<count>]",
+               .jim_handler = jim_target_mw,
                .help = "Write 32-bit word(s) to target memory",
+               .usage = "address data [count]",
        },
        {
                .name = "mwh",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_mw,
-               .usage = "<address> <data> [<count>]",
+               .jim_handler = jim_target_mw,
                .help = "Write 16-bit half-word(s) to target memory",
+               .usage = "address data [count]",
        },
        {
                .name = "mwb",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_mw,
-               .usage = "<address> <data> [<count>]",
+               .jim_handler = jim_target_mw,
                .help = "Write byte(s) to target memory",
+               .usage = "address data [count]",
        },
        {
                .name = "mdw",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_md,
-               .usage = "<address> [<count>]",
+               .jim_handler = jim_target_md,
                .help = "Display target memory as 32-bit words",
+               .usage = "address [count]",
        },
        {
                .name = "mdh",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_md,
-               .usage = "<address> [<count>]",
+               .jim_handler = jim_target_md,
                .help = "Display target memory as 16-bit half-words",
+               .usage = "address [count]",
        },
        {
                .name = "mdb",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_md,
-               .usage = "<address> [<count>]",
+               .jim_handler = jim_target_md,
                .help = "Display target memory as 8-bit bytes",
+               .usage = "address [count]",
        },
        {
                .name = "array2mem",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_array2mem,
+               .jim_handler = jim_target_array2mem,
+               .help = "Writes Tcl array of 8/16/32 bit numbers "
+                       "to target memory",
+               .usage = "arrayname bitwidth address count",
        },
        {
                .name = "mem2array",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_mem2array,
+               .jim_handler = jim_target_mem2array,
+               .help = "Loads Tcl array of 8/16/32 bit numbers "
+                       "from target memory",
+               .usage = "arrayname bitwidth address count",
        },
        {
                .name = "eventlist",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_event_list,
+               .jim_handler = jim_target_event_list,
+               .help = "displays a table of events defined for this target",
        },
        {
                .name = "curstate",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_current_state,
+               .jim_handler = jim_target_current_state,
+               .help = "displays the current state of this target",
        },
        {
                .name = "arp_examine",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_examine,
+               .jim_handler = jim_target_examine,
+               .help = "used internally for reset processing",
+       },
+       {
+               .name = "arp_halt_gdb",
+               .mode = COMMAND_EXEC,
+               .jim_handler = jim_target_halt_gdb,
+               .help = "used internally for reset processing to halt GDB",
        },
        {
                .name = "arp_poll",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_poll,
+               .jim_handler = jim_target_poll,
+               .help = "used internally for reset processing",
        },
        {
                .name = "arp_reset",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_reset,
+               .jim_handler = jim_target_reset,
+               .help = "used internally for reset processing",
        },
        {
                .name = "arp_halt",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_halt,
+               .jim_handler = jim_target_halt,
+               .help = "used internally for reset processing",
        },
        {
                .name = "arp_waitstate",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_wait_state,
+               .jim_handler = jim_target_wait_state,
+               .help = "used internally for reset processing",
        },
        {
                .name = "invoke-event",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_target_invoke_event,
+               .jim_handler = jim_target_invoke_event,
+               .help = "invoke handler for specified event",
+               .usage = "event_name",
        },
        COMMAND_REGISTRATION_DONE
 };
@@ -4329,7 +4864,9 @@ static int target_create(Jim_GetOptInfo *goi)
        struct target *target;
        struct command_context *cmd_ctx;
 
-       cmd_ctx = Jim_GetAssocData(goi->interp, "context");
+       cmd_ctx = current_command_context(goi->interp);
+       assert (cmd_ctx != NULL);
+
        if (goi->argc < 3) {
                Jim_WrongNumArgs(goi->interp, 1, goi->argv, "?name? ?type? ..options...");
                return JIM_ERR;
@@ -4341,7 +4878,7 @@ static int target_create(Jim_GetOptInfo *goi)
        cmd = Jim_GetCommand(goi->interp, new_cmd, JIM_ERRMSG);
        if (cmd) {
                cp = Jim_GetString(new_cmd, NULL);
-               Jim_SetResult_sprintf(goi->interp, "Command/target: %s Exists", cp);
+               Jim_SetResultFormatted(goi->interp, "Command/target: %s Exists", cp);
                return JIM_ERR;
        }
 
@@ -4356,7 +4893,7 @@ static int target_create(Jim_GetOptInfo *goi)
                }
        }
        if (target_types[x] == NULL) {
-               Jim_SetResult_sprintf(goi->interp, "Unknown target type %s, try one of ", cp);
+               Jim_SetResultFormatted(goi->interp, "Unknown target type %s, try one of ", cp);
                for (x = 0 ; target_types[x] ; x++) {
                        if (target_types[x + 1]) {
                                Jim_AppendStrings(goi->interp,
@@ -4386,6 +4923,9 @@ static int target_create(Jim_GetOptInfo *goi)
        /* will be set by "-endian" */
        target->endianness = TARGET_ENDIAN_UNKNOWN;
 
+       /* default to first core, override with -coreid */
+       target->coreid = 0;
+
        target->working_area        = 0x0;
        target->working_area_size   = 0x0;
        target->working_areas       = NULL;
@@ -4418,6 +4958,9 @@ static int target_create(Jim_GetOptInfo *goi)
 
        target->endianness = TARGET_ENDIAN_UNKNOWN;
 
+       target->rtos = NULL;
+       target->rtos_auto_detect = false;
+
        /* Do the rest as "configure" options */
        goi->isconfigure = 1;
        e = target_configure(goi, target);
@@ -4465,7 +5008,7 @@ static int target_create(Jim_GetOptInfo *goi)
                }
                *tpp = target;
        }
-       
+
        /* now - create the new target name command */
        const const struct command_registration target_subcommands[] = {
                {
@@ -4503,7 +5046,9 @@ static int jim_target_current(Jim_Interp *interp, int argc, Jim_Obj *const *argv
                Jim_WrongNumArgs(interp, 1, argv, "Too many parameters");
                return JIM_ERR;
        }
-       struct command_context *cmd_ctx = Jim_GetAssocData(interp, "context");
+       struct command_context *cmd_ctx = current_command_context(interp);
+       assert (cmd_ctx != NULL);
+
        Jim_SetResultString(interp, get_current_target(cmd_ctx)->cmd_name, -1);
        return JIM_OK;
 }
@@ -4542,6 +5087,61 @@ static int jim_target_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        return JIM_OK;
 }
 
+static int jim_target_smp(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+       int i;
+       const char *targetname;
+       int retval,len;
+       struct target *target;
+       struct target_list *head, *curr, *new;
+    curr = (struct target_list*) NULL;
+       head = (struct target_list*) NULL;
+       new = (struct target_list*) NULL;
+
+       retval = 0;
+       LOG_DEBUG("%d",argc);
+       /* argv[1] = target to associate in smp
+        * argv[2] = target to assoicate in smp 
+        * argv[3] ...
+        */
+
+       for(i=1;i<argc;i++)
+       {
+
+               targetname = Jim_GetString(argv[i], &len);
+               target = get_target(targetname);
+               LOG_DEBUG("%s ",targetname);
+               if (target)
+               {
+                       new=malloc(sizeof(struct target_list));
+                       new->target = target;
+                       new->next = (struct target_list*)NULL;
+                       if (head == (struct target_list*)NULL)
+                       {
+                               head = new;
+                               curr = head;
+                       }
+                       else
+                       {
+                               curr->next = new;
+                               curr = new;
+                       }
+               }
+       }
+    /*  now parse the list of cpu and put the target in smp mode*/
+       curr=head;
+
+    while(curr!=(struct target_list *)NULL)
+       {
+    target=curr->target;
+       target->smp = 1;
+       target->head = head;
+       curr=curr->next;
+       }
+       return retval; 
+}
+
+
 static int jim_target_create(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
        Jim_GetOptInfo goi;
@@ -4564,7 +5164,7 @@ static int jim_target_number(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        LOG_WARNING("don't use numbers as target identifiers; use names");
        if (goi.argc != 1)
        {
-               Jim_SetResult_sprintf(goi.interp, "usage: target number <number>");
+               Jim_SetResultFormatted(goi.interp, "usage: target number <number>");
                return JIM_ERR;
        }
        jim_wide w;
@@ -4581,8 +5181,12 @@ static int jim_target_number(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                Jim_SetResultString(goi.interp, target_name(target), -1);
                return JIM_OK;
        }
-       Jim_SetResult_sprintf(goi.interp,
-                       "Target: number %d does not exist", (int)(w));
+       {
+               Jim_Obj *wObj = Jim_NewIntObj(goi.interp, w);
+               Jim_SetResultFormatted(goi.interp,
+                       "Target: number %#s does not exist", wObj);
+               Jim_FreeNewObj(interp, wObj);
+       }
        return JIM_ERR;
 }
 
@@ -4608,51 +5212,62 @@ static const struct command_registration target_subcommand_handlers[] = {
        {
                .name = "init",
                .mode = COMMAND_CONFIG,
-               .handler = &handle_target_init_command,
+               .handler = handle_target_init_command,
                .help = "initialize targets",
        },
        {
                .name = "create",
+               /* REVISIT this should be COMMAND_CONFIG ... */
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_target_create,
-               .usage = "<name> <type> ...",
-               .help = "Returns the currently selected target",
+               .jim_handler = jim_target_create,
+               .usage = "name type '-chain-position' name [options ...]",
+               .help = "Creates and selects a new target",
        },
        {
                .name = "current",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_target_current,
+               .jim_handler = jim_target_current,
                .help = "Returns the currently selected target",
        },
        {
                .name = "types",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_target_types,
-               .help = "Returns the available target types as a list of strings",
+               .jim_handler = jim_target_types,
+               .help = "Returns the available target types as "
+                               "a list of strings",
        },
        {
                .name = "names",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_target_names,
+               .jim_handler = jim_target_names,
                .help = "Returns the names of all targets as a list of strings",
        },
        {
                .name = "number",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_target_number,
-               .usage = "<number>",
-               .help = "Returns the name of target <n>",
+               .jim_handler = jim_target_number,
+               .usage = "number",
+               .help = "Returns the name of the numbered target "
+                       "(DEPRECATED)",
        },
        {
                .name = "count",
                .mode = COMMAND_ANY,
-               .jim_handler = &jim_target_count,
-               .help = "Returns the number of targets as an integer",
+               .jim_handler = jim_target_count,
+               .help = "Returns the number of targets as an integer "
+                       "(DEPRECATED)",
        },
+       {
+               .name = "smp",
+               .mode = COMMAND_ANY,
+               .jim_handler = jim_target_smp,
+               .usage = "targetname1 targetname2 ...",
+               .help = "gather several target in a smp list"
+       },
+
        COMMAND_REGISTRATION_DONE
 };
 
-
 struct FastLoad
 {
        uint32_t address;
@@ -4701,9 +5316,10 @@ COMMAND_HANDLER(handle_fast_load_image_command)
        struct duration bench;
        duration_start(&bench);
 
-       if (image_open(&image, CMD_ARGV[0], (CMD_ARGC >= 3) ? CMD_ARGV[2] : NULL) != ERROR_OK)
+       retval = image_open(&image, CMD_ARGV[0], (CMD_ARGC >= 3) ? CMD_ARGV[2] : NULL);
+       if (retval != ERROR_OK)
        {
-               return ERROR_OK;
+               return retval;
        }
 
        image_size = 0x0;
@@ -4712,6 +5328,7 @@ COMMAND_HANDLER(handle_fast_load_image_command)
        fastload = (struct FastLoad *)malloc(sizeof(struct FastLoad)*image.num_sections);
        if (fastload == NULL)
        {
+               command_print(CMD_CTX, "out of memory");
                image_close(&image);
                return ERROR_FAIL;
        }
@@ -4723,6 +5340,7 @@ COMMAND_HANDLER(handle_fast_load_image_command)
                {
                        command_print(CMD_CTX, "error allocating buffer for section (%d bytes)",
                                                  (int)(image.sections[i].size));
+                       retval = ERROR_FAIL;
                        break;
                }
 
@@ -4758,6 +5376,9 @@ COMMAND_HANDLER(handle_fast_load_image_command)
                        if (fastload[i].data == NULL)
                        {
                                free(buffer);
+                               command_print(CMD_CTX, "error allocating buffer for section (%d bytes)",
+                                                         length);
+                               retval = ERROR_FAIL;
                                break;
                        }
                        memcpy(fastload[i].data, buffer + offset, length);
@@ -4775,7 +5396,7 @@ COMMAND_HANDLER(handle_fast_load_image_command)
        if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
        {
                command_print(CMD_CTX, "Loaded %" PRIu32 " bytes "
-                               "in %fs (%0.3f kb/s)", image_size, 
+                               "in %fs (%0.3f KiB/s)", image_size,
                                duration_elapsed(&bench), duration_kbps(&bench, image_size));
 
                command_print(CMD_CTX,
@@ -4812,25 +5433,29 @@ COMMAND_HANDLER(handle_fast_load_command)
                command_print(CMD_CTX, "Write to 0x%08x, length 0x%08x",
                                          (unsigned int)(fastload[i].address),
                                          (unsigned int)(fastload[i].length));
-               if (retval == ERROR_OK)
+               retval = target_write_buffer(target, fastload[i].address, fastload[i].length, fastload[i].data);
+               if (retval != ERROR_OK)
                {
-                       retval = target_write_buffer(target, fastload[i].address, fastload[i].length, fastload[i].data);
+                       break;
                }
                size += fastload[i].length;
        }
-       int after = timeval_ms();
-       command_print(CMD_CTX, "Loaded image %f kBytes/s", (float)(size/1024.0)/((float)(after-ms)/1000.0));
+       if (retval == ERROR_OK)
+       {
+               int after = timeval_ms();
+               command_print(CMD_CTX, "Loaded image %f kBytes/s", (float)(size/1024.0)/((float)(after-ms)/1000.0));
+       }
        return retval;
 }
 
 static const struct command_registration target_command_handlers[] = {
        {
                .name = "targets",
-               .handler = &handle_targets_command,
+               .handler = handle_targets_command,
                .mode = COMMAND_ANY,
-               .help = "change current command line target (one parameter) "
-                       "or list targets (no parameters)",
-               .usage = "[<new_current_target>]",
+               .help = "change current default target (one parameter) "
+                       "or prints table of all targets (no parameters)",
+               .usage = "[target]",
        },
        {
                .name = "target",
@@ -4847,72 +5472,92 @@ int target_register_commands(struct command_context *cmd_ctx)
        return register_commands(cmd_ctx, NULL, target_command_handlers);
 }
 
+static bool target_reset_nag = true;
+
+bool get_target_reset_nag(void)
+{
+       return target_reset_nag;
+}
+
+COMMAND_HANDLER(handle_target_reset_nag)
+{
+       return CALL_COMMAND_HANDLER(handle_command_parse_bool,
+                       &target_reset_nag, "Nag after each reset about options to improve "
+                       "performance");
+}
+
 static const struct command_registration target_exec_command_handlers[] = {
        {
                .name = "fast_load_image",
-               .handler = &handle_fast_load_image_command,
+               .handler = handle_fast_load_image_command,
                .mode = COMMAND_ANY,
-               .help = "Load image into memory, mainly for profiling purposes",
-               .usage = "<file> <address> ['bin'|'ihex'|'elf'|'s19'] "
-                       "[min_address] [max_length]",
+               .help = "Load image into server memory for later use by "
+                       "fast_load; primarily for profiling",
+               .usage = "filename address ['bin'|'ihex'|'elf'|'s19'] "
+                       "[min_address [max_length]]",
        },
        {
                .name = "fast_load",
-               .handler = &handle_fast_load_command,
-               .mode = COMMAND_ANY,
+               .handler = handle_fast_load_command,
+               .mode = COMMAND_EXEC,
                .help = "loads active fast load image to current target "
                        "- mainly for profiling purposes",
        },
        {
                .name = "profile",
-               .handler = &handle_profile_command,
+               .handler = handle_profile_command,
                .mode = COMMAND_EXEC,
                .help = "profiling samples the CPU PC",
        },
        /** @todo don't register virt2phys() unless target supports it */
        {
                .name = "virt2phys",
-               .handler = &handle_virt2phys_command,
+               .handler = handle_virt2phys_command,
                .mode = COMMAND_ANY,
                .help = "translate a virtual address into a physical address",
+               .usage = "virtual_address",
        },
-
        {
                .name = "reg",
-               .handler = &handle_reg_command,
+               .handler = handle_reg_command,
                .mode = COMMAND_EXEC,
-               .help = "display or set a register",
+               .help = "display or set a register; with no arguments, "
+                       "displays all registers and their values",
+               .usage = "[(register_name|register_number) [value]]",
        },
-
        {
                .name = "poll",
-               .handler = &handle_poll_command,
+               .handler = handle_poll_command,
                .mode = COMMAND_EXEC,
-               .help = "poll target state",
+               .help = "poll target state; or reconfigure background polling",
+               .usage = "['on'|'off']",
        },
        {
                .name = "wait_halt",
-               .handler = &handle_wait_halt_command,
+               .handler = handle_wait_halt_command,
                .mode = COMMAND_EXEC,
-               .help = "wait for target halt",
-               .usage = "[time (s)]",
+               .help = "wait up to the specified number of milliseconds "
+                       "(default 5) for a previously requested halt",
+               .usage = "[milliseconds]",
        },
        {
                .name = "halt",
-               .handler = &handle_halt_command,
+               .handler = handle_halt_command,
                .mode = COMMAND_EXEC,
-               .help = "halt target",
+               .help = "request target to halt, then wait up to the specified"
+                       "number of milliseconds (default 5) for it to complete",
+               .usage = "[milliseconds]",
        },
        {
                .name = "resume",
-               .handler = &handle_resume_command,
+               .handler = handle_resume_command,
                .mode = COMMAND_EXEC,
-               .help = "resume target",
-               .usage = "[<address>]",
+               .help = "resume target execution from current PC or address",
+               .usage = "[address]",
        },
        {
                .name = "reset",
-               .handler = &handle_reset_command,
+               .handler = handle_reset_command,
                .mode = COMMAND_EXEC,
                .usage = "[run|halt|init]",
                .help = "Reset all targets into the specified mode."
@@ -4920,137 +5565,139 @@ static const struct command_registration target_exec_command_handlers[] = {
        },
        {
                .name = "soft_reset_halt",
-               .handler = &handle_soft_reset_halt_command,
+               .handler = handle_soft_reset_halt_command,
                .mode = COMMAND_EXEC,
                .help = "halt the target and do a soft reset",
        },
        {
-
                .name = "step",
-               .handler = &handle_step_command,
+               .handler = handle_step_command,
                .mode = COMMAND_EXEC,
-               .help = "step one instruction from current PC or [addr]",
-               .usage = "[<address>]",
+               .help = "step one instruction from current PC or address",
+               .usage = "[address]",
        },
        {
-
                .name = "mdw",
-               .handler = &handle_md_command,
+               .handler = handle_md_command,
                .mode = COMMAND_EXEC,
                .help = "display memory words",
-               .usage = "[phys] <addr> [count]",
+               .usage = "['phys'] address [count]",
        },
        {
                .name = "mdh",
-               .handler = &handle_md_command,
+               .handler = handle_md_command,
                .mode = COMMAND_EXEC,
                .help = "display memory half-words",
-               .usage = "[phys] <addr> [count]",
+               .usage = "['phys'] address [count]",
        },
        {
                .name = "mdb",
-               .handler = &handle_md_command,
+               .handler = handle_md_command,
                .mode = COMMAND_EXEC,
                .help = "display memory bytes",
-               .usage = "[phys] <addr> [count]",
+               .usage = "['phys'] address [count]",
        },
        {
-
                .name = "mww",
-               .handler = &handle_mw_command,
+               .handler = handle_mw_command,
                .mode = COMMAND_EXEC,
                .help = "write memory word",
-               .usage = "[phys]  <addr> <value> [count]",
+               .usage = "['phys'] address value [count]",
        },
        {
                .name = "mwh",
-               .handler = &handle_mw_command,
+               .handler = handle_mw_command,
                .mode = COMMAND_EXEC,
                .help = "write memory half-word",
-               .usage = "[phys] <addr> <value> [count]",
+               .usage = "['phys'] address value [count]",
        },
        {
                .name = "mwb",
-               .handler = &handle_mw_command,
+               .handler = handle_mw_command,
                .mode = COMMAND_EXEC,
                .help = "write memory byte",
-               .usage = "[phys] <addr> <value> [count]",
+               .usage = "['phys'] address value [count]",
        },
        {
-
                .name = "bp",
-               .handler = &handle_bp_command,
+               .handler = handle_bp_command,
                .mode = COMMAND_EXEC,
-               .help = "list or set breakpoint",
-               .usage = "[<address> <length> [hw]]",
+               .help = "list or set hardware or software breakpoint",
+               .usage = "usage: bp <address> [<asid>]<length> ['hw'|'hw_ctx']",
        },
        {
                .name = "rbp",
-               .handler = &handle_rbp_command,
+               .handler = handle_rbp_command,
                .mode = COMMAND_EXEC,
                .help = "remove breakpoint",
-               .usage = "<address>",
+               .usage = "address",
        },
        {
-
                .name = "wp",
-               .handler = &handle_wp_command,
+               .handler = handle_wp_command,
                .mode = COMMAND_EXEC,
-               .help = "list or set watchpoint",
-               .usage = "[<address> <length> <r/w/a> [value] [mask]]",
+               .help = "list (no params) or create watchpoints",
+               .usage = "[address length [('r'|'w'|'a') value [mask]]]",
        },
        {
                .name = "rwp",
-               .handler = &handle_rwp_command,
+               .handler = handle_rwp_command,
                .mode = COMMAND_EXEC,
                .help = "remove watchpoint",
-               .usage = "<address>",
-
+               .usage = "address",
        },
        {
                .name = "load_image",
-               .handler = &handle_load_image_command,
+               .handler = handle_load_image_command,
                .mode = COMMAND_EXEC,
-               .usage = "<file> <address> ['bin'|'ihex'|'elf'|'s19'] "
+               .usage = "filename address ['bin'|'ihex'|'elf'|'s19'] "
                        "[min_address] [max_length]",
        },
        {
                .name = "dump_image",
-               .handler = &handle_dump_image_command,
+               .handler = handle_dump_image_command,
                .mode = COMMAND_EXEC,
-               .usage = "<file> <address> <size>",
+               .usage = "filename address size",
        },
        {
                .name = "verify_image",
-               .handler = &handle_verify_image_command,
+               .handler = handle_verify_image_command,
                .mode = COMMAND_EXEC,
-               .usage = "<file> [offset] [type]",
+               .usage = "filename [offset [type]]",
        },
        {
                .name = "test_image",
-               .handler = &handle_test_image_command,
+               .handler = handle_test_image_command,
                .mode = COMMAND_EXEC,
-               .usage = "<file> [offset] [type]",
+               .usage = "filename [offset [type]]",
        },
        {
-               .name = "ocd_mem2array",
+               .name = "mem2array",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_mem2array,
-               .help = "read memory and return as a TCL array "
+               .jim_handler = jim_mem2array,
+               .help = "read 8/16/32 bit memory and return as a TCL array "
                        "for script processing",
-               .usage = "<arrayname> <width=32|16|8> <address> <count>",
+               .usage = "arrayname bitwidth address count",
        },
        {
-               .name = "ocd_array2mem",
+               .name = "array2mem",
                .mode = COMMAND_EXEC,
-               .jim_handler = &jim_array2mem,
+               .jim_handler = jim_array2mem,
                .help = "convert a TCL array to memory locations "
-                       "and write the values",
-               .usage = "<arrayname> <width=32|16|8> <address> <count>",
+                       "and write the 8/16/32 bit values",
+               .usage = "arrayname bitwidth address count",
+       },
+       {
+               .name = "reset_nag",
+               .handler = handle_target_reset_nag,
+               .mode = COMMAND_ANY,
+               .help = "Nag after each reset about options that could have been "
+                               "enabled to improve performance. ",
+               .usage = "['enable'|'disable']",
        },
        COMMAND_REGISTRATION_DONE
 };
-int target_register_user_commands(struct command_context *cmd_ctx)
+static int target_register_user_commands(struct command_context *cmd_ctx)
 {
        int retval = ERROR_OK;
        if ((retval = target_request_register_commands(cmd_ctx)) != ERROR_OK)

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