X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fft2232.c;h=47a03e9a055ccc4d95614ebcb459b8c9a5db4715;hp=d26b8e1c77eb990b82218bdf848b820418d010fa;hb=f90d8fa45f2d4c9d4b7990f198b232ee55cbb4e1;hpb=0bba832713cca8e5931d5d21f37f526d0a3979cf

diff --git a/src/jtag/ft2232.c b/src/jtag/ft2232.c
index d26b8e1c77..47a03e9a05 100644
--- a/src/jtag/ft2232.c
+++ b/src/jtag/ft2232.c
@@ -5,6 +5,9 @@
 *   Copyright (C) 2008 by Spencer Oliver                                  *
 *   spen@spen-soft.co.uk                                                  *
 *                                                                         *
+*   Copyright (C) 2009 by SoftPLC Corporation.  http://softplc.com        *
+*	Dick Hollenbeck <dick@softplc.com>                                    *
+*                                                                         *
 *   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     *
@@ -26,6 +29,9 @@
  * found here:
  * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
  * Hereafter this is called the "MPSSE Spec".
+ *
+ * The datasheet for the ftdichip.com's FT2232D part is here:
+ * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
  */
 
 
@@ -33,23 +39,22 @@
 #include "config.h"
 #endif
 
+/* project specific includes */
+#include "interface.h"
+#include "commands.h"
+#include "time_support.h"
+
 #if IS_CYGWIN == 1
-#include "windows.h"
+#include <windows.h>
 #endif
 
-#include "replacements.h"
+#include <assert.h>
 
-/* project specific includes */
-#include "log.h"
-#include "types.h"
-#include "jtag.h"
-#include "configuration.h"
-#include "time_support.h"
-
-/* system includes */
-#include <string.h>
-#include <stdlib.h>
-#include <unistd.h>
+#if (BUILD_FT2232_FTD2XX == 1 && BUILD_FT2232_LIBFTDI == 1)
+#error "BUILD_FT2232_FTD2XX && BUILD_FT2232_LIBFTDI are mutually exclusive"
+#elif (BUILD_FT2232_FTD2XX != 1 && BUILD_FT2232_LIBFTDI != 1)
+#error "BUILD_FT2232_FTD2XX || BUILD_FT2232_LIBFTDI must be chosen"
+#endif
 
 /* FT2232 access library includes */
 #if BUILD_FT2232_FTD2XX == 1
@@ -58,55 +63,52 @@
 #include <ftdi.h>
 #endif
 
-/* enable this to debug io latency
- */
-#if 0
-#define _DEBUG_USB_IO_
-#endif
+/* max TCK for the high speed devices 30000 kHz */
+#define	FTDI_2232H_4232H_MAX_TCK	30000
 
-/* enable this to debug communication
- */
-#if 0
-#define _DEBUG_USB_COMMS_
-#endif
+static int ft2232_execute_queue(void);
 
-int ft2232_execute_queue(void);
+static int ft2232_speed(int speed);
+static int ft2232_speed_div(int speed, int* khz);
+static int ft2232_khz(int khz, int* jtag_speed);
+static int ft2232_register_commands(struct command_context_s* cmd_ctx);
+static int ft2232_init(void);
+static int ft2232_quit(void);
 
-int ft2232_speed(int speed);
-int ft2232_speed_div(int speed, int* khz);
-int ft2232_khz(int khz, int* jtag_speed);
-int ft2232_register_commands(struct command_context_s* cmd_ctx);
-int ft2232_init(void);
-int ft2232_quit(void);
-
-int ft2232_handle_device_desc_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
-int ft2232_handle_serial_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
-int ft2232_handle_layout_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
-int ft2232_handle_vid_pid_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
-int ft2232_handle_latency_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
+static int ft2232_handle_device_desc_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
+static int ft2232_handle_serial_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
+static int ft2232_handle_layout_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
+static int ft2232_handle_vid_pid_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
+static int ft2232_handle_latency_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc);
 
 
 /**
- * Function ft2232_stableclocks
- * will send out \a num_cycles on the TCK line while the TAP(s)
- * are in a stable state.  Calling code must ensure that current state is
- * stable, that verification is not done in here.
- * @param num_cycles is the count of clocks cycles to send.
- * @return int - ERROR_OK or ERROR_JTAG_QUEUE_FAILED
+ * Send out \a num_cycles on the TCK line while the TAP(s) are in a
+ * stable state.  Calling code must ensure that current state is stable,
+ * that verification is not done in here.
+ *
+ * @param num_cycles The number of clocks cycles to send.
+ * @param cmd The command to send.
+ *
+ * @returns ERROR_OK on success, or ERROR_JTAG_QUEUE_FAILED on failure.
  */
 static int ft2232_stableclocks(int num_cycles, jtag_command_t* cmd);
 
+/* max TCK for the high speed devices 30000 kHz */
+#define	FTDI_2232H_4232H_MAX_TCK	30000
+
+static char *       ft2232_device_desc_A = NULL;
+static char*        ft2232_device_desc = NULL;
+static char*        ft2232_serial  = NULL;
+static char*        ft2232_layout  = NULL;
+static uint8_t		ft2232_latency = 2;
+static unsigned		ft2232_max_tck = 6000;
 
-char *        ft2232_device_desc_A = NULL;
-char*         ft2232_device_desc = NULL;
-char*         ft2232_serial  = NULL;
-char*         ft2232_layout  = NULL;
-unsigned char ft2232_latency = 2;
 
 #define MAX_USB_IDS 8
 /* vid = pid = 0 marks the end of the list */
-static u16 ft2232_vid[MAX_USB_IDS + 1] = { 0x0403, 0 };
-static u16 ft2232_pid[MAX_USB_IDS + 1] = { 0x6010, 0 };
+static uint16_t ft2232_vid[MAX_USB_IDS + 1] = { 0x0403, 0 };
+static uint16_t ft2232_pid[MAX_USB_IDS + 1] = { 0x6010, 0 };
 
 typedef struct ft2232_layout_s
 {
@@ -117,33 +119,36 @@ typedef struct ft2232_layout_s
 } ft2232_layout_t;
 
 /* init procedures for supported layouts */
-int  usbjtag_init(void);
-int  jtagkey_init(void);
-int  olimex_jtag_init(void);
-int  flyswatter_init(void);
-int  turtle_init(void);
-int  comstick_init(void);
-int  stm32stick_init(void);
-int  axm0432_jtag_init(void);
-int sheevaplug_init(void);
+static int usbjtag_init(void);
+static int jtagkey_init(void);
+static int olimex_jtag_init(void);
+static int flyswatter_init(void);
+static int turtle_init(void);
+static int comstick_init(void);
+static int stm32stick_init(void);
+static int axm0432_jtag_init(void);
+static int sheevaplug_init(void);
+static int icebear_jtag_init(void);
+static int cortino_jtag_init(void);
 
 /* reset procedures for supported layouts */
-void usbjtag_reset(int trst, int srst);
-void jtagkey_reset(int trst, int srst);
-void olimex_jtag_reset(int trst, int srst);
-void flyswatter_reset(int trst, int srst);
-void turtle_reset(int trst, int srst);
-void comstick_reset(int trst, int srst);
-void stm32stick_reset(int trst, int srst);
-void axm0432_jtag_reset(int trst, int srst);
-void sheevaplug_reset(int trst, int srst);
+static void usbjtag_reset(int trst, int srst);
+static void jtagkey_reset(int trst, int srst);
+static void olimex_jtag_reset(int trst, int srst);
+static void flyswatter_reset(int trst, int srst);
+static void turtle_reset(int trst, int srst);
+static void comstick_reset(int trst, int srst);
+static void stm32stick_reset(int trst, int srst);
+static void axm0432_jtag_reset(int trst, int srst);
+static void sheevaplug_reset(int trst, int srst);
+static void icebear_jtag_reset(int trst, int srst);
 
 /* blink procedures for layouts that support a blinking led */
-void olimex_jtag_blink(void);
-void flyswatter_jtag_blink(void);
-void turtle_jtag_blink(void);
+static void olimex_jtag_blink(void);
+static void flyswatter_jtag_blink(void);
+static void turtle_jtag_blink(void);
 
-ft2232_layout_t            ft2232_layouts[] =
+static const ft2232_layout_t  ft2232_layouts[] =
 {
 	{ "usbjtag",              usbjtag_init,              usbjtag_reset,      NULL                    },
 	{ "jtagkey",              jtagkey_init,              jtagkey_reset,      NULL                    },
@@ -157,20 +162,23 @@ ft2232_layout_t            ft2232_layouts[] =
 	{ "comstick",             comstick_init,             comstick_reset,     NULL                    },
 	{ "stm32stick",           stm32stick_init,           stm32stick_reset,   NULL                    },
 	{ "axm0432_jtag",         axm0432_jtag_init,         axm0432_jtag_reset, NULL                    },
-	{"sheevaplug",            sheevaplug_init,           sheevaplug_reset,   NULL                    },
-	{ NULL,                   NULL,                      NULL },
+	{ "sheevaplug",           sheevaplug_init,           sheevaplug_reset,   NULL                    },
+	{ "icebear",              icebear_jtag_init,         icebear_jtag_reset, NULL                    },
+	{ "cortino",              cortino_jtag_init,         comstick_reset, NULL                        },
+	{ NULL,                   NULL,                      NULL,               NULL                    },
 };
 
-static u8                  nTRST, nTRSTnOE, nSRST, nSRSTnOE;
+static uint8_t                  nTRST, nTRSTnOE, nSRST, nSRSTnOE;
 
-static ft2232_layout_t*    layout;
-static u8                  low_output     = 0x0;
-static u8                  low_direction  = 0x0;
-static u8                  high_output    = 0x0;
-static u8                  high_direction = 0x0;
+static const ft2232_layout_t *layout;
+static uint8_t                  low_output     = 0x0;
+static uint8_t                  low_direction  = 0x0;
+static uint8_t                  high_output    = 0x0;
+static uint8_t                  high_direction = 0x0;
 
 #if BUILD_FT2232_FTD2XX == 1
-static FT_HANDLE           ftdih = NULL;
+static FT_HANDLE	ftdih = NULL;
+static FT_DEVICE	ftdi_device = 0;
 #elif BUILD_FT2232_LIBFTDI == 1
 static struct ftdi_context ftdic;
 #endif
@@ -179,33 +187,163 @@ static struct ftdi_context ftdic;
 static jtag_command_t* first_unsent;        /* next command that has to be sent */
 static int             require_send;
 
-static u8*             ft2232_buffer = NULL;
+
+/*	http://urjtag.wiki.sourceforge.net/Cable + FT2232 says:
+
+	"There is a significant difference between libftdi and libftd2xx. The latter
+	one allows to schedule up to 64*64 bytes of result data while libftdi fails
+	with more than 4*64. As a consequence, the FT2232 driver is forced to
+	perform around 16x more USB transactions for long command streams with TDO
+	capture when running with libftdi."
+
+	No idea how we get
+	#define FT2232_BUFFER_SIZE 131072
+	a comment would have been nice.
+*/
+
+#define FT2232_BUFFER_SIZE 131072
+
+static uint8_t*             ft2232_buffer = NULL;
 static int             ft2232_buffer_size  = 0;
 static int             ft2232_read_pointer = 0;
 static int             ft2232_expect_read  = 0;
 
-#define FT2232_BUFFER_SIZE 131072
-#define BUFFER_ADD         ft2232_buffer[ft2232_buffer_size++]
-#define BUFFER_READ        ft2232_buffer[ft2232_read_pointer++]
+/**
+ * Function buffer_write
+ * writes a byte into the byte buffer, "ft2232_buffer", which must be sent later.
+ * @param val is the byte to send.
+ */
+static inline void buffer_write(uint8_t val)
+{
+	assert(ft2232_buffer);
+	assert((unsigned) ft2232_buffer_size < (unsigned) FT2232_BUFFER_SIZE);
+	ft2232_buffer[ft2232_buffer_size++] = val;
+}
+
+/**
+ * Function buffer_read
+ * returns a byte from the byte buffer.
+ */
+static inline uint8_t buffer_read(void)
+{
+	assert(ft2232_buffer);
+	assert(ft2232_read_pointer < ft2232_buffer_size);
+	return ft2232_buffer[ft2232_read_pointer++];
+}
+
+
+/**
+ * Clocks out \a bit_count bits on the TMS line, starting with the least
+ * significant bit of tms_bits and progressing to more significant bits.
+ * Rigorous state transition logging is done here via tap_set_state().
+ *
+ * @param mpsse_cmd One of the MPSSE TMS oriented commands such as
+ *	0x4b or 0x6b.  See the MPSSE spec referenced above for their
+ *	functionality. The MPSSE command "Clock Data to TMS/CS Pin (no Read)"
+ *	is often used for this, 0x4b.
+ *
+ * @param tms_bits Holds the sequence of bits to send.
+ * @param tms_count Tells how many bits in the sequence.
+ * @param tdi_bit A single bit to pass on to TDI before the first TCK
+ *	cycle and held static for the duration of TMS clocking.
+ *
+ * See the MPSSE spec referenced above.
+ */
+static void clock_tms(uint8_t mpsse_cmd, int tms_bits, int tms_count, bool tdi_bit)
+{
+	uint8_t	tms_byte;
+	int	i;
+	int	tms_ndx;				/* bit index into tms_byte */
+
+	assert(tms_count > 0);
+
+//	LOG_DEBUG("mpsse cmd=%02x, tms_bits = 0x%08x, bit_count=%d", mpsse_cmd, tms_bits, tms_count);
+
+	for (tms_byte = tms_ndx = i = 0;   i < tms_count;   ++i, tms_bits>>=1)
+	{
+		bool bit = tms_bits & 1;
+
+		if (bit)
+			tms_byte |= (1 << tms_ndx);
+
+		/* always do state transitions in public view */
+		tap_set_state(tap_state_transition(tap_get_state(), bit));
+
+		/*	we wrote a bit to tms_byte just above, increment bit index.  if bit was zero
+			also increment.
+		*/
+		++tms_ndx;
+
+		if (tms_ndx == 7  || i == tms_count-1)
+		{
+			buffer_write(mpsse_cmd);
+			buffer_write(tms_ndx - 1);
+
+			/*	Bit 7 of the byte is passed on to TDI/DO before the first TCK/SK of
+				TMS/CS and is held static for the duration of TMS/CS clocking.
+			*/
+			buffer_write(tms_byte | (tdi_bit << 7));
+		}
+	}
+}
+
+
+/**
+ * Function get_tms_buffer_requirements
+ * returns what clock_tms() will consume if called with
+ * same \a bit_count.
+ */
+static inline int get_tms_buffer_requirements(int bit_count)
+{
+	return ((bit_count + 6)/7) * 3;
+}
+
+
+/**
+ * Function move_to_state
+ * moves the TAP controller from the current state to a
+ * \a goal_state through a path given by tap_get_tms_path().  State transition
+ * logging is performed by delegation to clock_tms().
+ *
+ * @param goal_state is the destination state for the move.
+ */
+static void move_to_state(tap_state_t goal_state)
+{
+	tap_state_t	start_state = tap_get_state();
+
+	/*	goal_state is 1/2 of a tuple/pair of states which allow convenient
+		lookup of the required TMS pattern to move to this state from the
+		start state.
+	*/
+
+	/* do the 2 lookups */
+	int tms_bits  = tap_get_tms_path(start_state, goal_state);
+	int tms_count = tap_get_tms_path_len(start_state, goal_state);
+
+	DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
+
+	clock_tms(0x4b,  tms_bits, tms_count, 0);
+}
+
 
 jtag_interface_t ft2232_interface =
 {
-	.name               = "ft2232",
-	.execute_queue = ft2232_execute_queue,
-	.speed     = ft2232_speed,
-	.speed_div = ft2232_speed_div,
-	.khz                = ft2232_khz,
-	.register_commands  = ft2232_register_commands,
-	.init = ft2232_init,
-	.quit = ft2232_quit,
+	.name			= "ft2232",
+	.execute_queue		= ft2232_execute_queue,
+	.speed			= ft2232_speed,
+	.speed_div		= ft2232_speed_div,
+	.khz			= ft2232_khz,
+	.register_commands	= ft2232_register_commands,
+	.init			= ft2232_init,
+	.quit			= ft2232_quit,
 };
 
-int ft2232_write(u8* buf, int size, u32* bytes_written)
+static int ft2232_write(uint8_t* buf, int size, uint32_t* bytes_written)
 {
 #if BUILD_FT2232_FTD2XX == 1
 	FT_STATUS status;
-	DWORD     dw_bytes_written;
-	if ( ( status = FT_Write(ftdih, buf, size, &dw_bytes_written) ) != FT_OK )
+	DWORD	dw_bytes_written;
+	if ((status = FT_Write(ftdih, buf, size, &dw_bytes_written)) != FT_OK)
 	{
 		*bytes_written = dw_bytes_written;
 		LOG_ERROR("FT_Write returned: %lu", status);
@@ -218,10 +356,10 @@ int ft2232_write(u8* buf, int size, u32* bytes_written)
 	}
 #elif BUILD_FT2232_LIBFTDI == 1
 	int retval;
-	if ( ( retval = ftdi_write_data(&ftdic, buf, size) ) < 0 )
+	if ((retval = ftdi_write_data(&ftdic, buf, size)) < 0)
 	{
 		*bytes_written = 0;
-		LOG_ERROR( "ftdi_write_data: %s", ftdi_get_error_string(&ftdic) );
+		LOG_ERROR("ftdi_write_data: %s", ftdi_get_error_string(&ftdic));
 		return ERROR_JTAG_DEVICE_ERROR;
 	}
 	else
@@ -233,7 +371,7 @@ int ft2232_write(u8* buf, int size, u32* bytes_written)
 }
 
 
-int ft2232_read(u8* buf, int size, u32* bytes_read)
+static int ft2232_read(uint8_t* buf, uint32_t size, uint32_t* bytes_read)
 {
 #if BUILD_FT2232_FTD2XX == 1
 	DWORD     dw_bytes_read;
@@ -241,10 +379,10 @@ int ft2232_read(u8* buf, int size, u32* bytes_read)
 	int       timeout = 5;
 	*bytes_read = 0;
 
-	while ( (*bytes_read < size) && timeout-- )
+	while ((*bytes_read < size) && timeout--)
 	{
-		if ( ( status = FT_Read(ftdih, buf + *bytes_read, size -
-					  *bytes_read, &dw_bytes_read) ) != FT_OK )
+		if ((status = FT_Read(ftdih, buf + *bytes_read, size -
+					  *bytes_read, &dw_bytes_read)) != FT_OK)
 		{
 			*bytes_read = 0;
 			LOG_ERROR("FT_Read returned: %lu", status);
@@ -258,12 +396,12 @@ int ft2232_read(u8* buf, int size, u32* bytes_read)
 	int timeout = 100;
 	*bytes_read = 0;
 
-	while ( (*bytes_read < size) && timeout-- )
+	while ((*bytes_read < size) && timeout--)
 	{
-		if ( ( retval = ftdi_read_data(&ftdic, buf + *bytes_read, size - *bytes_read) ) < 0 )
+		if ((retval = ftdi_read_data(&ftdic, buf + *bytes_read, size - *bytes_read)) < 0)
 		{
 			*bytes_read = 0;
-			LOG_ERROR( "ftdi_read_data: %s", ftdi_get_error_string(&ftdic) );
+			LOG_ERROR("ftdi_read_data: %s", ftdi_get_error_string(&ftdic));
 			return ERROR_JTAG_DEVICE_ERROR;
 		}
 		*bytes_read += retval;
@@ -273,26 +411,70 @@ int ft2232_read(u8* buf, int size, u32* bytes_read)
 
 	if (*bytes_read < size)
 	{
-		LOG_ERROR("couldn't read the requested number of bytes from FT2232 device (%i < %i)", *bytes_read, size);
+		LOG_ERROR("couldn't read the requested number of bytes from FT2232 device (%i < %i)", 
+			  (unsigned int)(*bytes_read), 
+			  (unsigned int)size);
 		return ERROR_JTAG_DEVICE_ERROR;
 	}
 
 	return ERROR_OK;
 }
 
+#ifdef BUILD_FTD2XX_HIGHSPEED
+static bool ft2232_device_is_highspeed(void)
+{
+	return (ftdi_device == FT_DEVICE_2232H) || (ftdi_device == FT_DEVICE_4232H);
+}
 
-int ft2232_speed(int speed)
+static int ft2232_adaptive_clocking(int speed)
 {
-	u8  buf[3];
+	bool use_adaptive_clocking = FALSE;
+	if (0 == speed)
+	{
+		if (ft2232_device_is_highspeed())
+			use_adaptive_clocking = TRUE;
+		else
+		{
+			LOG_ERROR("ft2232 device %lu does not support RTCK", ftdi_device);
+			return ERROR_OK;
+		}
+	}
+
+	uint8_t  buf = use_adaptive_clocking ? 0x96 : 0x97;
+	LOG_DEBUG("%2.2x", buf);
+
+	uint32_t bytes_written;
+	int retval = ft2232_write(&buf, 1, &bytes_written);
+	if (ERROR_OK != retval || bytes_written != 1)
+	{
+		LOG_ERROR("unable to set adative clocking: %d", retval);
+		return retval;
+	}
+
+	return ERROR_OK;
+}
+#else
+static int ft2232_adaptive_clocking(int speed)
+{
+	// not implemented on low-speed devices
+	return speed ? ERROR_OK : -1234;
+}
+#endif
+
+static int ft2232_speed(int speed)
+{
+	uint8_t  buf[3];
 	int retval;
-	u32 bytes_written;
+	uint32_t bytes_written;
+
+	ft2232_adaptive_clocking(speed);
 
-	buf[0] = 0x86;                  /* command "set divisor" */
-	buf[1] = speed & 0xff;          /* valueL (0=6MHz, 1=3MHz, 2=2.0MHz, ...*/
+	buf[0] = 0x86;			/* command "set divisor" */
+	buf[1] = speed & 0xff;          /* valueL (0 = 6MHz, 1 = 3MHz, 2 = 2.0MHz, ...*/
 	buf[2] = (speed >> 8) & 0xff;   /* valueH */
 
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
-	if ( ( ( retval = ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((retval = ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't set FT2232 TCK speed");
 		return retval;
@@ -302,24 +484,31 @@ int ft2232_speed(int speed)
 }
 
 
-int ft2232_speed_div(int speed, int* khz)
+static int ft2232_speed_div(int speed, int* khz)
 {
 	/* Take a look in the FT2232 manual,
 	 * AN2232C-01 Command Processor for
 	 * MPSSE and MCU Host Bus. Chapter 3.8 */
 
-	*khz = 6000 / (1 + speed);
+	*khz = ft2232_max_tck / (1 + speed);
 
 	return ERROR_OK;
 }
 
 
-int ft2232_khz(int khz, int* jtag_speed)
+static int ft2232_khz(int khz, int* jtag_speed)
 {
-	if (khz==0)
+	if (khz == 0)
 	{
-		LOG_ERROR("RCLK not supported");
+#ifdef BUILD_FTD2XX_HIGHSPEED
+		*jtag_speed = 0;
+		return ERROR_OK;
+#else
+		LOG_DEBUG("RCLK not supported");
+		LOG_DEBUG("If you have a high-speed FTDI device, then "
+			"OpenOCD may be built with --enable-ftd2xx-highspeed.");
 		return ERROR_FAIL;
+#endif
 	}
 
 	/* Take a look in the FT2232 manual,
@@ -329,9 +518,9 @@ int ft2232_khz(int khz, int* jtag_speed)
 	 * We will calc here with a multiplier
 	 * of 10 for better rounding later. */
 
-	/* Calc speed, (6000 / khz) - 1 */
+	/* Calc speed, (ft2232_max_tck / khz) - 1 */
 	/* Use 65000 for better rounding */
-	*jtag_speed = (60000 / khz) - 10;
+	*jtag_speed = ((ft2232_max_tck*10) / khz) - 10;
 
 	/* Add 0.9 for rounding */
 	*jtag_speed += 9;
@@ -355,7 +544,7 @@ int ft2232_khz(int khz, int* jtag_speed)
 }
 
 
-int ft2232_register_commands(struct command_context_s* cmd_ctx)
+static int ft2232_register_commands(struct command_context_s* cmd_ctx)
 {
 	register_command(cmd_ctx, NULL, "ft2232_device_desc", ft2232_handle_device_desc_command,
 			COMMAND_CONFIG, "the USB device description of the FTDI FT2232 device");
@@ -371,19 +560,18 @@ int ft2232_register_commands(struct command_context_s* cmd_ctx)
 }
 
 
-void ft2232_end_state(tap_state_t state)
+static void ft2232_end_state(tap_state_t state)
 {
 	if (tap_is_state_stable(state))
 		tap_set_end_state(state);
 	else
 	{
-		LOG_ERROR("BUG: %i is not a valid end state", state);
+		LOG_ERROR("BUG: %s is not a stable end state", tap_state_name(state));
 		exit(-1);
 	}
 }
 
-
-void ft2232_read_scan(enum scan_type type, u8* buffer, int scan_size)
+static void ft2232_read_scan(enum scan_type type, uint8_t* buffer, int scan_size)
 {
 	int num_bytes = (scan_size + 7) / 8;
 	int bits_left = scan_size;
@@ -391,23 +579,23 @@ void ft2232_read_scan(enum scan_type type, u8* buffer, int scan_size)
 
 	while (num_bytes-- > 1)
 	{
-		buffer[cur_byte] = BUFFER_READ;
-		cur_byte++;
+		buffer[cur_byte++] = buffer_read();
 		bits_left -= 8;
 	}
 
 	buffer[cur_byte] = 0x0;
 
+	/* There is one more partial byte left from the clock data in/out instructions */
 	if (bits_left > 1)
 	{
-		buffer[cur_byte] = BUFFER_READ >> 1;
+		buffer[cur_byte] = buffer_read() >> 1;
 	}
-
-	buffer[cur_byte] = ( buffer[cur_byte] | ( (BUFFER_READ & 0x02) << 6 ) ) >> (8 - bits_left);
+	/* This shift depends on the length of the clock data to tms instruction, insterted at end of the scan, now fixed to a two step transition in ft2232_add_scan */
+	buffer[cur_byte] = (buffer[cur_byte] | (((buffer_read()) << 1) & 0x80)) >> (8 - bits_left);
 }
 
 
-void ft2232_debug_dump_buffer(void)
+static void ft2232_debug_dump_buffer(void)
 {
 	int   i;
 	char  line[256];
@@ -428,15 +616,15 @@ void ft2232_debug_dump_buffer(void)
 }
 
 
-int ft2232_send_and_recv(jtag_command_t* first, jtag_command_t* last)
+static int ft2232_send_and_recv(jtag_command_t* first, jtag_command_t* last)
 {
 	jtag_command_t* cmd;
-	u8*             buffer;
+	uint8_t*             buffer;
 	int             scan_size;
 	enum scan_type  type;
 	int             retval;
-	u32             bytes_written;
-	u32             bytes_read;
+	uint32_t             bytes_written = 0;
+	uint32_t             bytes_read = 0;
 
 #ifdef _DEBUG_USB_IO_
 	struct timeval  start, inter, inter2, end;
@@ -452,7 +640,7 @@ int ft2232_send_and_recv(jtag_command_t* first, jtag_command_t* last)
 	gettimeofday(&start, NULL);
 #endif
 
-	if ( ( retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written) ) != ERROR_OK )
+	if ((retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written)) != ERROR_OK)
 	{
 		LOG_ERROR("couldn't write MPSSE commands to FT2232");
 		return retval;
@@ -471,7 +659,7 @@ int ft2232_send_and_recv(jtag_command_t* first, jtag_command_t* last)
 		gettimeofday(&inter2, NULL);
 #endif
 
-		if ( ( retval = ft2232_read(ft2232_buffer, ft2232_expect_read, &bytes_read) ) != ERROR_OK )
+		if ((retval = ft2232_read(ft2232_buffer, ft2232_expect_read, &bytes_read)) != ERROR_OK)
 		{
 			LOG_ERROR("couldn't read from FT2232");
 			return retval;
@@ -484,9 +672,10 @@ int ft2232_send_and_recv(jtag_command_t* first, jtag_command_t* last)
 		timeval_subtract(&d_inter2, &inter2, &start);
 		timeval_subtract(&d_end, &end, &start);
 
-		LOG_INFO("inter: %i.%06i, inter2: %i.%06i end: %i.%06i", d_inter.tv_sec, d_inter.tv_usec, d_inter2.tv_sec,
-				d_inter2.tv_usec, d_end.tv_sec,
-				d_end.tv_usec);
+		LOG_INFO("inter: %u.%06u, inter2: %u.%06u end: %u.%06u",
+			(unsigned)d_inter.tv_sec, (unsigned)d_inter.tv_usec,
+			(unsigned)d_inter2.tv_sec, (unsigned)d_inter2.tv_usec,
+			(unsigned)d_end.tv_sec, (unsigned)d_end.tv_usec);
 #endif
 
 		ft2232_buffer_size = bytes_read;
@@ -546,77 +735,68 @@ int ft2232_send_and_recv(jtag_command_t* first, jtag_command_t* last)
 }
 
 
-void ft2232_add_pathmove(pathmove_command_t* cmd)
+/**
+ * Function ft2232_add_pathmove
+ * moves the TAP controller from the current state to a new state through the
+ * given path, where path is an array of tap_state_t's.
+ *
+ * @param path is an array of tap_stat_t which gives the states to traverse through
+ *   ending with the last state at path[num_states-1]
+ * @param num_states is the count of state steps to move through
+ */
+static void ft2232_add_pathmove(tap_state_t* path, int num_states)
 {
-	int num_states = cmd->num_states;
-	int state_count = 0;
-
-	while (num_states)
-	{
-		u8  tms_byte = 0;       /* zero this on each MPSSE batch */
+	int			tms_bits = 0;
+	int			state_ndx;
+	tap_state_t	walker = tap_get_state();
 
-		int bit_count = 0;
+	assert((unsigned) num_states <= 32u);		/* tms_bits only holds 32 bits */
 
-		int num_states_batch = num_states > 7 ? 7 : num_states;
-
-		/* command "Clock Data to TMS/CS Pin (no Read)" */
-		BUFFER_ADD = 0x4b;
-
-		/* number of states remaining */
-		BUFFER_ADD = num_states_batch - 1;
+	/* this loop verifies that the path is legal and logs each state in the path */
+	for (state_ndx = 0; state_ndx < num_states;  ++state_ndx)
+	{
+		tap_state_t	desired_next_state = path[state_ndx];
 
-		while (num_states_batch--)
+		if (tap_state_transition(walker, false) == desired_next_state)
+			;	/* bit within tms_bits at index state_ndx is already zero */
+		else if (tap_state_transition(walker, true) == desired_next_state)
+			tms_bits |= (1 << state_ndx);
+		else
 		{
-			if (tap_state_transition(tap_get_state(), false) == cmd->path[state_count])
-				buf_set_u32(&tms_byte, bit_count++, 1, 0x0);
-			else if (tap_state_transition(tap_get_state(), true) == cmd->path[state_count])
-				buf_set_u32(&tms_byte, bit_count++, 1, 0x1);
-			else
-			{
-				LOG_ERROR( "BUG: %s -> %s isn't a valid TAP transition", tap_state_name(
-								 tap_get_state() ), tap_state_name(cmd->path[state_count]) );
-				exit(-1);
-			}
-
-			tap_set_state(cmd->path[state_count]);
-			state_count++;
-			num_states--;
+			LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
+					tap_state_name(walker), tap_state_name(desired_next_state));
+			exit(-1);
 		}
 
-		BUFFER_ADD = tms_byte;
+		walker = desired_next_state;
 	}
-	
+
+	clock_tms(0x4b,  tms_bits, num_states, 0);
+
 	tap_set_end_state(tap_get_state());
 }
 
 
-void ft2232_add_scan(int ir_scan, enum scan_type type, u8* buffer, int scan_size)
+static void ft2232_add_scan(bool ir_scan, enum scan_type type, uint8_t* buffer, int scan_size)
 {
 	int num_bytes = (scan_size + 7) / 8;
 	int bits_left = scan_size;
 	int cur_byte  = 0;
 	int last_bit;
 
-	if ( !( ( !ir_scan && (tap_get_state() == TAP_DRSHIFT) )
-	   || (    ir_scan && (tap_get_state() == TAP_IRSHIFT) ) ) )
+	if (!ir_scan)
 	{
-		/* command "Clock Data to TMS/CS Pin (no Read)" */
-		BUFFER_ADD = 0x4b;
-
-		BUFFER_ADD = 0x6;       /* scan 7 bits */
-
-		/* TMS data bits */
-		if (ir_scan)
+		if (tap_get_state() != TAP_DRSHIFT)
 		{
-			BUFFER_ADD = tap_get_tms_path(tap_get_state(), TAP_IRSHIFT);
-			tap_set_state(TAP_IRSHIFT);
+			move_to_state(TAP_DRSHIFT);
 		}
-		else
+	}
+	else
+	{
+		if (tap_get_state() != TAP_IRSHIFT)
 		{
-			BUFFER_ADD = tap_get_tms_path(tap_get_state(), TAP_DRSHIFT);
-			tap_set_state(TAP_DRSHIFT);
+			move_to_state(TAP_IRSHIFT);
 		}
-		/* LOG_DEBUG("added TMS scan (no read)"); */
 	}
 
 	/* add command for complete bytes */
@@ -626,34 +806,34 @@ void ft2232_add_scan(int ir_scan, enum scan_type type, u8* buffer, int scan_size
 		if (type == SCAN_IO)
 		{
 			/* Clock Data Bytes In and Out LSB First */
-			BUFFER_ADD = 0x39;
+			buffer_write(0x39);
 			/* LOG_DEBUG("added TDI bytes (io %i)", num_bytes); */
 		}
 		else if (type == SCAN_OUT)
 		{
 			/* Clock Data Bytes Out on -ve Clock Edge LSB First (no Read) */
-			BUFFER_ADD = 0x19;
+			buffer_write(0x19);
 			/* LOG_DEBUG("added TDI bytes (o)"); */
 		}
 		else if (type == SCAN_IN)
 		{
 			/* Clock Data Bytes In on +ve Clock Edge LSB First (no Write) */
-			BUFFER_ADD = 0x28;
+			buffer_write(0x28);
 			/* LOG_DEBUG("added TDI bytes (i %i)", num_bytes); */
 		}
 
 		thisrun_bytes = (num_bytes > 65537) ? 65536 : (num_bytes - 1);
 		num_bytes    -= thisrun_bytes;
-		BUFFER_ADD    = (thisrun_bytes - 1) & 0xff;
-		BUFFER_ADD    = ( (thisrun_bytes - 1) >> 8 ) & 0xff;
+
+		buffer_write((uint8_t) (thisrun_bytes - 1));
+		buffer_write((uint8_t) ((thisrun_bytes - 1) >> 8));
 
 		if (type != SCAN_IN)
 		{
 			/* add complete bytes */
 			while (thisrun_bytes-- > 0)
 			{
-				BUFFER_ADD = buffer[cur_byte];
-				cur_byte++;
+				buffer_write(buffer[cur_byte++]);
 				bits_left -= 8;
 			}
 		}
@@ -665,7 +845,7 @@ void ft2232_add_scan(int ir_scan, enum scan_type type, u8* buffer, int scan_size
 
 	/* the most signifcant bit is scanned during TAP movement */
 	if (type != SCAN_IN)
-		last_bit = ( buffer[cur_byte] >> (bits_left - 1) ) & 0x1;
+		last_bit = (buffer[cur_byte] >> (bits_left - 1)) & 0x1;
 	else
 		last_bit = 0;
 
@@ -675,83 +855,97 @@ void ft2232_add_scan(int ir_scan, enum scan_type type, u8* buffer, int scan_size
 		if (type == SCAN_IO)
 		{
 			/* Clock Data Bits In and Out LSB First */
-			BUFFER_ADD = 0x3b;
+			buffer_write(0x3b);
 			/* LOG_DEBUG("added TDI bits (io) %i", bits_left - 1); */
 		}
 		else if (type == SCAN_OUT)
 		{
 			/* Clock Data Bits Out on -ve Clock Edge LSB First (no Read) */
-			BUFFER_ADD = 0x1b;
+			buffer_write(0x1b);
 			/* LOG_DEBUG("added TDI bits (o)"); */
 		}
 		else if (type == SCAN_IN)
 		{
 			/* Clock Data Bits In on +ve Clock Edge LSB First (no Write) */
-			BUFFER_ADD = 0x2a;
+			buffer_write(0x2a);
 			/* LOG_DEBUG("added TDI bits (i %i)", bits_left - 1); */
 		}
-		BUFFER_ADD = bits_left - 2;
+
+		buffer_write(bits_left - 2);
 		if (type != SCAN_IN)
-			BUFFER_ADD = buffer[cur_byte];
+			buffer_write(buffer[cur_byte]);
 	}
 
-	if ( (  ir_scan && (tap_get_end_state() == TAP_IRSHIFT) )
-	  || ( !ir_scan && (tap_get_end_state() == TAP_DRSHIFT) ) )
+	if ((ir_scan && (tap_get_end_state() == TAP_IRSHIFT))
+	  || (!ir_scan && (tap_get_end_state() == TAP_DRSHIFT)))
 	{
 		if (type == SCAN_IO)
 		{
 			/* Clock Data Bits In and Out LSB First */
-			BUFFER_ADD = 0x3b;
+			buffer_write(0x3b);
 			/* LOG_DEBUG("added TDI bits (io) %i", bits_left - 1); */
 		}
 		else if (type == SCAN_OUT)
 		{
 			/* Clock Data Bits Out on -ve Clock Edge LSB First (no Read) */
-			BUFFER_ADD = 0x1b;
+			buffer_write(0x1b);
 			/* LOG_DEBUG("added TDI bits (o)"); */
 		}
 		else if (type == SCAN_IN)
 		{
 			/* Clock Data Bits In on +ve Clock Edge LSB First (no Write) */
-			BUFFER_ADD = 0x2a;
+			buffer_write(0x2a);
 			/* LOG_DEBUG("added TDI bits (i %i)", bits_left - 1); */
 		}
-		BUFFER_ADD = 0x0;
-		BUFFER_ADD = last_bit;
+		buffer_write(0x0);
+		buffer_write(last_bit);
 	}
 	else
 	{
+		int tms_bits;
+		int tms_count;
+		uint8_t	mpsse_cmd;
+
 		/* move from Shift-IR/DR to end state */
 		if (type != SCAN_OUT)
 		{
+			/* We always go to the PAUSE state in two step at the end of an IN or IO scan */
+			/* This must be coordinated with the bit shifts in ft2232_read_scan    */
+			tms_bits  = 0x01;
+			tms_count = 2;
 			/* Clock Data to TMS/CS Pin with Read */
-			BUFFER_ADD = 0x6b;
+			mpsse_cmd = 0x6b;
 			/* LOG_DEBUG("added TMS scan (read)"); */
 		}
 		else
 		{
+			tms_bits  = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+			tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 			/* Clock Data to TMS/CS Pin (no Read) */
-			BUFFER_ADD = 0x4b;
+			mpsse_cmd = 0x4b;
 			/* LOG_DEBUG("added TMS scan (no read)"); */
 		}
-		BUFFER_ADD = 0x6;   /* scan 7 bits */
 
-		BUFFER_ADD = tap_get_tms_path( tap_get_state(), tap_get_end_state() ) | (last_bit << 7);
-		tap_set_state( tap_get_end_state() );
+		clock_tms(mpsse_cmd, tms_bits, tms_count, last_bit);
+	}
+
+	if (tap_get_state() != tap_get_end_state())
+	{
+		move_to_state(tap_get_end_state());
 	}
 }
 
 
-int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int scan_size)
+static int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, uint8_t* buffer, int scan_size)
 {
 	int num_bytes = (scan_size + 7) / 8;
 	int bits_left = scan_size;
 	int cur_byte  = 0;
 	int last_bit;
-	u8* receive_buffer  = malloc( CEIL(scan_size, 8) );
-	u8* receive_pointer = receive_buffer;
-	u32 bytes_written;
-	u32 bytes_read;
+	uint8_t* receive_buffer  = malloc(CEIL(scan_size, 8));
+	uint8_t* receive_pointer = receive_buffer;
+	uint32_t bytes_written;
+	uint32_t bytes_read;
 	int retval;
 	int thisrun_read = 0;
 
@@ -763,22 +957,16 @@ int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int
 
 	if (tap_get_state() != TAP_DRSHIFT)
 	{
-		/* command "Clock Data to TMS/CS Pin (no Read)" */
-		BUFFER_ADD = 0x4b;
-
-		BUFFER_ADD = 0x6;       /* scan 7 bits */
-
-		/* TMS data bits */
-		BUFFER_ADD = tap_get_tms_path(tap_get_state(), TAP_DRSHIFT);
-		tap_set_state(TAP_DRSHIFT);
+		move_to_state(TAP_DRSHIFT);
 	}
 
-	if ( ( retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written) ) != ERROR_OK )
+	if ((retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written)) != ERROR_OK)
 	{
 		LOG_ERROR("couldn't write MPSSE commands to FT2232");
 		exit(-1);
 	}
-	LOG_DEBUG("ft2232_buffer_size: %i, bytes_written: %i", ft2232_buffer_size, bytes_written);
+	LOG_DEBUG("ft2232_buffer_size: %i, bytes_written: %i", 
+		  ft2232_buffer_size, (int)bytes_written);
 	ft2232_buffer_size = 0;
 
 	/* add command for complete bytes */
@@ -789,34 +977,34 @@ int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int
 		if (type == SCAN_IO)
 		{
 			/* Clock Data Bytes In and Out LSB First */
-			BUFFER_ADD = 0x39;
+			buffer_write(0x39);
 			/* LOG_DEBUG("added TDI bytes (io %i)", num_bytes); */
 		}
 		else if (type == SCAN_OUT)
 		{
 			/* Clock Data Bytes Out on -ve Clock Edge LSB First (no Read) */
-			BUFFER_ADD = 0x19;
+			buffer_write(0x19);
 			/* LOG_DEBUG("added TDI bytes (o)"); */
 		}
 		else if (type == SCAN_IN)
 		{
 			/* Clock Data Bytes In on +ve Clock Edge LSB First (no Write) */
-			BUFFER_ADD = 0x28;
+			buffer_write(0x28);
 			/* LOG_DEBUG("added TDI bytes (i %i)", num_bytes); */
 		}
 
 		thisrun_bytes = (num_bytes > 65537) ? 65536 : (num_bytes - 1);
 		thisrun_read  = thisrun_bytes;
 		num_bytes    -= thisrun_bytes;
-		BUFFER_ADD    = (thisrun_bytes - 1) & 0xff;
-		BUFFER_ADD    = ( (thisrun_bytes - 1) >> 8 ) & 0xff;
+		buffer_write((uint8_t) (thisrun_bytes - 1));
+		buffer_write((uint8_t) ((thisrun_bytes - 1) >> 8));
 
 		if (type != SCAN_IN)
 		{
 			/* add complete bytes */
 			while (thisrun_bytes-- > 0)
 			{
-				BUFFER_ADD = buffer[cur_byte];
+				buffer_write(buffer[cur_byte]);
 				cur_byte++;
 				bits_left -= 8;
 			}
@@ -826,22 +1014,26 @@ int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int
 			bits_left -= 8 * (thisrun_bytes);
 		}
 
-		if ( ( retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written) ) != ERROR_OK )
+		if ((retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written)) != ERROR_OK)
 		{
 			LOG_ERROR("couldn't write MPSSE commands to FT2232");
 			exit(-1);
 		}
-		LOG_DEBUG("ft2232_buffer_size: %i, bytes_written: %i", ft2232_buffer_size, bytes_written);
+		LOG_DEBUG("ft2232_buffer_size: %i, bytes_written: %i", 
+			  ft2232_buffer_size, 
+			  (int)bytes_written);
 		ft2232_buffer_size = 0;
 
 		if (type != SCAN_OUT)
 		{
-			if ( ( retval = ft2232_read(receive_pointer, thisrun_read, &bytes_read) ) != ERROR_OK )
+			if ((retval = ft2232_read(receive_pointer, thisrun_read, &bytes_read)) != ERROR_OK)
 			{
 				LOG_ERROR("couldn't read from FT2232");
 				exit(-1);
 			}
-			LOG_DEBUG("thisrun_read: %i, bytes_read: %i", thisrun_read, bytes_read);
+			LOG_DEBUG("thisrun_read: %i, bytes_read: %i", 
+				  thisrun_read, 
+				  (int)bytes_read);
 			receive_pointer += bytes_read;
 		}
 	}
@@ -850,7 +1042,7 @@ int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int
 
 	/* the most signifcant bit is scanned during TAP movement */
 	if (type != SCAN_IN)
-		last_bit = ( buffer[cur_byte] >> (bits_left - 1) ) & 0x1;
+		last_bit = (buffer[cur_byte] >> (bits_left - 1)) & 0x1;
 	else
 		last_bit = 0;
 
@@ -860,24 +1052,24 @@ int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int
 		if (type == SCAN_IO)
 		{
 			/* Clock Data Bits In and Out LSB First */
-			BUFFER_ADD = 0x3b;
+			buffer_write(0x3b);
 			/* LOG_DEBUG("added TDI bits (io) %i", bits_left - 1); */
 		}
 		else if (type == SCAN_OUT)
 		{
 			/* Clock Data Bits Out on -ve Clock Edge LSB First (no Read) */
-			BUFFER_ADD = 0x1b;
+			buffer_write(0x1b);
 			/* LOG_DEBUG("added TDI bits (o)"); */
 		}
 		else if (type == SCAN_IN)
 		{
 			/* Clock Data Bits In on +ve Clock Edge LSB First (no Write) */
-			BUFFER_ADD = 0x2a;
+			buffer_write(0x2a);
 			/* LOG_DEBUG("added TDI bits (i %i)", bits_left - 1); */
 		}
-		BUFFER_ADD = bits_left - 2;
+		buffer_write(bits_left - 2);
 		if (type != SCAN_IN)
-			BUFFER_ADD = buffer[cur_byte];
+			buffer_write(buffer[cur_byte]);
 
 		if (type != SCAN_OUT)
 			thisrun_read += 2;
@@ -888,63 +1080,70 @@ int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int
 		if (type == SCAN_IO)
 		{
 			/* Clock Data Bits In and Out LSB First */
-			BUFFER_ADD = 0x3b;
+			buffer_write(0x3b);
 			/* LOG_DEBUG("added TDI bits (io) %i", bits_left - 1); */
 		}
 		else if (type == SCAN_OUT)
 		{
 			/* Clock Data Bits Out on -ve Clock Edge LSB First (no Read) */
-			BUFFER_ADD = 0x1b;
+			buffer_write(0x1b);
 			/* LOG_DEBUG("added TDI bits (o)"); */
 		}
 		else if (type == SCAN_IN)
 		{
 			/* Clock Data Bits In on +ve Clock Edge LSB First (no Write) */
-			BUFFER_ADD = 0x2a;
+			buffer_write(0x2a);
 			/* LOG_DEBUG("added TDI bits (i %i)", bits_left - 1); */
 		}
-		BUFFER_ADD = 0x0;
-		BUFFER_ADD = last_bit;
+		buffer_write(0x0);
+		buffer_write(last_bit);
 	}
 	else
 	{
+		int tms_bits  = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+		int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+		uint8_t	mpsse_cmd;
+
 		/* move from Shift-IR/DR to end state */
 		if (type != SCAN_OUT)
 		{
 			/* Clock Data to TMS/CS Pin with Read */
-			BUFFER_ADD = 0x6b;
+			mpsse_cmd = 0x6b;
 			/* LOG_DEBUG("added TMS scan (read)"); */
 		}
 		else
 		{
 			/* Clock Data to TMS/CS Pin (no Read) */
-			BUFFER_ADD = 0x4b;
+			mpsse_cmd = 0x4b;
 			/* LOG_DEBUG("added TMS scan (no read)"); */
 		}
-		BUFFER_ADD = 0x6;
-		BUFFER_ADD = tap_get_tms_path( tap_get_state(), tap_get_end_state() ) | (last_bit << 7);
-		tap_set_state( tap_get_end_state() );
+
+		clock_tms(mpsse_cmd, tms_bits, tms_count, last_bit);
 	}
 
 	if (type != SCAN_OUT)
 		thisrun_read += 1;
 
-	if ( ( retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written) ) != ERROR_OK )
+	if ((retval = ft2232_write(ft2232_buffer, ft2232_buffer_size, &bytes_written)) != ERROR_OK)
 	{
 		LOG_ERROR("couldn't write MPSSE commands to FT2232");
 		exit(-1);
 	}
-	LOG_DEBUG("ft2232_buffer_size: %i, bytes_written: %i", ft2232_buffer_size, bytes_written);
+	LOG_DEBUG("ft2232_buffer_size: %i, bytes_written: %i", 
+		  ft2232_buffer_size, 
+		  (int)bytes_written);
 	ft2232_buffer_size = 0;
 
 	if (type != SCAN_OUT)
 	{
-		if ( ( retval = ft2232_read(receive_pointer, thisrun_read, &bytes_read) ) != ERROR_OK )
+		if ((retval = ft2232_read(receive_pointer, thisrun_read, &bytes_read)) != ERROR_OK)
 		{
 			LOG_ERROR("couldn't read from FT2232");
 			exit(-1);
 		}
-		LOG_DEBUG("thisrun_read: %i, bytes_read: %i", thisrun_read, bytes_read);
+		LOG_DEBUG("thisrun_read: %i, bytes_read: %i", 
+			  thisrun_read, 
+			  (int)bytes_read);
 		receive_pointer += bytes_read;
 	}
 
@@ -952,34 +1151,36 @@ int ft2232_large_scan(scan_command_t* cmd, enum scan_type type, u8* buffer, int
 }
 
 
-int ft2232_predict_scan_out(int scan_size, enum scan_type type)
+static int ft2232_predict_scan_out(int scan_size, enum scan_type type)
 {
 	int predicted_size = 3;
 	int num_bytes = (scan_size - 1) / 8;
 
 	if (tap_get_state() != TAP_DRSHIFT)
-		predicted_size += 3;
+		predicted_size += get_tms_buffer_requirements(tap_get_tms_path_len(tap_get_state(), TAP_DRSHIFT));
 
 	if (type == SCAN_IN)    /* only from device to host */
 	{
 		/* complete bytes */
 		predicted_size += CEIL(num_bytes, 65536) * 3;
+
 		/* remaining bits - 1 (up to 7) */
-		predicted_size += ( (scan_size - 1) % 8 ) ? 2 : 0;
+		predicted_size += ((scan_size - 1) % 8) ? 2 : 0;
 	}
 	else                    /* host to device, or bidirectional */
 	{
 		/* complete bytes */
 		predicted_size += num_bytes + CEIL(num_bytes, 65536) * 3;
+
 		/* remaining bits -1 (up to 7) */
-		predicted_size += ( (scan_size - 1) % 8 ) ? 3 : 0;
+		predicted_size += ((scan_size - 1) % 8) ? 3 : 0;
 	}
 
 	return predicted_size;
 }
 
 
-int ft2232_predict_scan_in(int scan_size, enum scan_type type)
+static int ft2232_predict_scan_in(int scan_size, enum scan_type type)
 {
 	int predicted_size = 0;
 
@@ -989,7 +1190,7 @@ int ft2232_predict_scan_in(int scan_size, enum scan_type type)
 		predicted_size += (CEIL(scan_size, 8) > 1) ? (CEIL(scan_size, 8) - 1) : 0;
 
 		/* remaining bits - 1 */
-		predicted_size += ( (scan_size - 1) % 8 ) ? 1 : 0;
+		predicted_size += ((scan_size - 1) % 8) ? 1 : 0;
 
 		/* last bit (from TMS scan) */
 		predicted_size += 1;
@@ -1001,8 +1202,9 @@ int ft2232_predict_scan_in(int scan_size, enum scan_type type)
 }
 
 
-void usbjtag_reset(int trst, int srst)
+static void usbjtag_reset(int trst, int srst)
 {
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	if (trst == 1)
 	{
 		if (jtag_reset_config & RESET_TRST_OPEN_DRAIN)
@@ -1034,14 +1236,15 @@ void usbjtag_reset(int trst, int srst)
 	}
 
 	/* command "set data bits low byte" */
-	BUFFER_ADD = 0x80;
-	BUFFER_ADD = low_output;
-	BUFFER_ADD = low_direction;
+	buffer_write(0x80);
+	buffer_write(low_output);
+	buffer_write(low_direction);
 }
 
 
-void jtagkey_reset(int trst, int srst)
+static void jtagkey_reset(int trst, int srst)
 {
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	if (trst == 1)
 	{
 		if (jtag_reset_config & RESET_TRST_OPEN_DRAIN)
@@ -1073,16 +1276,17 @@ void jtagkey_reset(int trst, int srst)
 	}
 
 	/* command "set data bits high byte" */
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 	LOG_DEBUG("trst: %i, srst: %i, high_output: 0x%2.2x, high_direction: 0x%2.2x", trst, srst, high_output,
 			high_direction);
 }
 
 
-void olimex_jtag_reset(int trst, int srst)
+static void olimex_jtag_reset(int trst, int srst)
 {
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	if (trst == 1)
 	{
 		if (jtag_reset_config & RESET_TRST_OPEN_DRAIN)
@@ -1108,15 +1312,15 @@ void olimex_jtag_reset(int trst, int srst)
 	}
 
 	/* command "set data bits high byte" */
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 	LOG_DEBUG("trst: %i, srst: %i, high_output: 0x%2.2x, high_direction: 0x%2.2x", trst, srst, high_output,
 			high_direction);
 }
 
 
-void axm0432_jtag_reset(int trst, int srst)
+static void axm0432_jtag_reset(int trst, int srst)
 {
 	if (trst == 1)
 	{
@@ -1138,15 +1342,15 @@ void axm0432_jtag_reset(int trst, int srst)
 	}
 
 	/* command "set data bits low byte" */
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 	LOG_DEBUG("trst: %i, srst: %i, high_output: 0x%2.2x, high_direction: 0x%2.2x", trst, srst, high_output,
 			high_direction);
 }
 
 
-void flyswatter_reset(int trst, int srst)
+static void flyswatter_reset(int trst, int srst)
 {
 	if (trst == 1)
 	{
@@ -1167,14 +1371,14 @@ void flyswatter_reset(int trst, int srst)
 	}
 
 	/* command "set data bits low byte" */
-	BUFFER_ADD = 0x80;
-	BUFFER_ADD = low_output;
-	BUFFER_ADD = low_direction;
+	buffer_write(0x80);
+	buffer_write(low_output);
+	buffer_write(low_direction);
 	LOG_DEBUG("trst: %i, srst: %i, low_output: 0x%2.2x, low_direction: 0x%2.2x", trst, srst, low_output, low_direction);
 }
 
 
-void turtle_reset(int trst, int srst)
+static void turtle_reset(int trst, int srst)
 {
 	trst = trst;
 
@@ -1188,14 +1392,14 @@ void turtle_reset(int trst, int srst)
 	}
 
 	/* command "set data bits low byte" */
-	BUFFER_ADD = 0x80;
-	BUFFER_ADD = low_output;
-	BUFFER_ADD = low_direction;
+	buffer_write(0x80);
+	buffer_write(low_output);
+	buffer_write(low_direction);
 	LOG_DEBUG("srst: %i, low_output: 0x%2.2x, low_direction: 0x%2.2x", srst, low_output, low_direction);
 }
 
 
-void comstick_reset(int trst, int srst)
+static void comstick_reset(int trst, int srst)
 {
 	if (trst == 1)
 	{
@@ -1216,15 +1420,15 @@ void comstick_reset(int trst, int srst)
 	}
 
 	/* command "set data bits high byte" */
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 	LOG_DEBUG("trst: %i, srst: %i, high_output: 0x%2.2x, high_direction: 0x%2.2x", trst, srst, high_output,
 			high_direction);
 }
 
 
-void stm32stick_reset(int trst, int srst)
+static void stm32stick_reset(int trst, int srst)
 {
 	if (trst == 1)
 	{
@@ -1245,21 +1449,21 @@ void stm32stick_reset(int trst, int srst)
 	}
 
 	/* command "set data bits low byte" */
-	BUFFER_ADD = 0x80;
-	BUFFER_ADD = low_output;
-	BUFFER_ADD = low_direction;
+	buffer_write(0x80);
+	buffer_write(low_output);
+	buffer_write(low_direction);
 
 	/* command "set data bits high byte" */
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 	LOG_DEBUG("trst: %i, srst: %i, high_output: 0x%2.2x, high_direction: 0x%2.2x", trst, srst, high_output,
 			high_direction);
 }
 
 
 
-void sheevaplug_reset(int trst, int srst)
+static void sheevaplug_reset(int trst, int srst)
 {
 	if (trst == 1)
 		high_output &= ~nTRST;
@@ -1272,253 +1476,310 @@ void sheevaplug_reset(int trst, int srst)
 		high_output |= nSRSTnOE;
 
 	/* command "set data bits high byte" */
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 	LOG_DEBUG("trst: %i, srst: %i, high_output: 0x%2.2x, high_direction: 0x%2.2x", trst, srst, high_output, high_direction);
 }
 
-int ft2232_execute_queue()
+static int ft2232_execute_runtest(jtag_command_t *cmd)
 {
-	jtag_command_t* cmd = jtag_command_queue;   /* currently processed command */
-	u8*             buffer;
-	int             scan_size;                  /* size of IR or DR scan */
-	enum scan_type  type;
+	int  retval;
 	int             i;
-	int             predicted_size = 0;
-	int             retval;
+	int predicted_size = 0;
+	retval = ERROR_OK;
 
-	first_unsent = cmd;         /* next command that has to be sent */
-	require_send = 0;
+	DEBUG_JTAG_IO("runtest %i cycles, end in %s",
+			cmd->cmd.runtest->num_cycles,
+			tap_state_name(cmd->cmd.runtest->end_state));
 
-	/* return ERROR_OK, unless ft2232_send_and_recv reports a failed check
-	 * that wasn't handled by a caller-provided error handler
-	 */
-	retval = ERROR_OK;
+	/* only send the maximum buffer size that FT2232C can handle */
+	predicted_size = 0;
+	if (tap_get_state() != TAP_IDLE)
+		predicted_size += 3;
+	predicted_size += 3 * CEIL(cmd->cmd.runtest->num_cycles, 7);
+	if (cmd->cmd.runtest->end_state != TAP_IDLE)
+		predicted_size += 3;
+	if (tap_get_end_state() != TAP_IDLE)
+		predicted_size += 3;
+	if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
+	{
+		if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+			retval = ERROR_JTAG_QUEUE_FAILED;
+		require_send = 0;
+		first_unsent = cmd;
+	}
+	if (tap_get_state() != TAP_IDLE)
+	{
+		move_to_state(TAP_IDLE);
+		require_send = 1;
+	}
+	i = cmd->cmd.runtest->num_cycles;
+	while (i > 0)
+	{
+		/* there are no state transitions in this code, so omit state tracking */
 
-	ft2232_buffer_size = 0;
-	ft2232_expect_read = 0;
+		/* command "Clock Data to TMS/CS Pin (no Read)" */
+		buffer_write(0x4b);
 
-	/* blink, if the current layout has that feature */
-	if (layout->blink)
-		layout->blink();
+		/* scan 7 bits */
+		buffer_write((i > 7) ? 6 : (i - 1));
 
-	while (cmd)
-	{
-		switch (cmd->type)
-		{
-		case JTAG_END_STATE:
-			if (cmd->cmd.end_state->end_state != TAP_INVALID)
-				ft2232_end_state(cmd->cmd.end_state->end_state);
-			break;
+		/* TMS data bits */
+		buffer_write(0x0);
+		tap_set_state(TAP_IDLE);
 
-		case JTAG_RESET:
-			/* only send the maximum buffer size that FT2232C can handle */
-			predicted_size = 3;
-			if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
-			{
-				if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
-					retval = ERROR_JTAG_QUEUE_FAILED;
-				require_send = 0;
-				first_unsent = cmd;
-			}
+		i -= (i > 7) ? 7 : i;
+		/* LOG_DEBUG("added TMS scan (no read)"); */
+	}
 
-			if ( (cmd->cmd.reset->trst == 1) || ( cmd->cmd.reset->srst && (jtag_reset_config & RESET_SRST_PULLS_TRST) ) )
-			{
-				tap_set_state(TAP_RESET);
-			}
-			layout->reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
-			require_send = 1;
+	ft2232_end_state(cmd->cmd.runtest->end_state);
 
+	if (tap_get_state() != tap_get_end_state())
+	{
+		move_to_state(tap_get_end_state());
+	}
+
+	require_send = 1;
 #ifdef _DEBUG_JTAG_IO_
-			LOG_DEBUG("trst: %i, srst: %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
+	LOG_DEBUG("runtest: %i, end in %s", cmd->cmd.runtest->num_cycles, tap_state_name(tap_get_end_state()));
 #endif
-			break;
 
-		case JTAG_RUNTEST:
-			/* only send the maximum buffer size that FT2232C can handle */
-			predicted_size = 0;
-			if (tap_get_state() != TAP_IDLE)
-				predicted_size += 3;
-			predicted_size += 3 * CEIL(cmd->cmd.runtest->num_cycles, 7);
-			if ( (cmd->cmd.runtest->end_state != TAP_INVALID) && (cmd->cmd.runtest->end_state != TAP_IDLE) )
-				predicted_size += 3;
-			if ( (cmd->cmd.runtest->end_state == TAP_INVALID) && (tap_get_end_state() != TAP_IDLE) )
-				predicted_size += 3;
-			if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
-			{
-				if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
-					retval = ERROR_JTAG_QUEUE_FAILED;
-				require_send = 0;
-				first_unsent = cmd;
-			}
-			if (tap_get_state() != TAP_IDLE)
-			{
-				/* command "Clock Data to TMS/CS Pin (no Read)" */
-				BUFFER_ADD = 0x4b;
-				BUFFER_ADD = 0x6;    /* scan 7 bits */
-
-				/* TMS data bits */
-				BUFFER_ADD = tap_get_tms_path(tap_get_state(), TAP_IDLE);
-				tap_set_state(TAP_IDLE);
-				require_send = 1;
-			}
-			i = cmd->cmd.runtest->num_cycles;
-			while (i > 0)
-			{
-				/* command "Clock Data to TMS/CS Pin (no Read)" */
-				BUFFER_ADD = 0x4b;
+	return retval;
+}
 
-				/* scan 7 bits */
-				BUFFER_ADD = (i > 7) ? 6 : (i - 1);
 
-				/* TMS data bits */
-				BUFFER_ADD = 0x0;
-				tap_set_state(TAP_IDLE);
-				i -= (i > 7) ? 7 : i;
-				/* LOG_DEBUG("added TMS scan (no read)"); */
-			}
+static int ft2232_execute_statemove(jtag_command_t *cmd)
+{
+	int	predicted_size = 0;
+	int	retval = ERROR_OK;
 
-			if (cmd->cmd.runtest->end_state != TAP_INVALID)
-				ft2232_end_state(cmd->cmd.runtest->end_state);
+	DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 
-			if ( tap_get_state() != tap_get_end_state() )
-			{
-				/* command "Clock Data to TMS/CS Pin (no Read)" */
-				BUFFER_ADD = 0x4b;
-				/* scan 7 bit */
-				BUFFER_ADD = 0x6;
-				/* TMS data bits */
-				BUFFER_ADD = tap_get_tms_path( tap_get_state(), tap_get_end_state() );
-				tap_set_state( tap_get_end_state() );
-				/* LOG_DEBUG("added TMS scan (no read)"); */
-			}
-			require_send = 1;
-#ifdef _DEBUG_JTAG_IO_
-			LOG_DEBUG( "runtest: %i, end in %s", cmd->cmd.runtest->num_cycles, tap_state_name( tap_get_end_state() ) );
-#endif
-			break;
+	/* only send the maximum buffer size that FT2232C can handle */
+	predicted_size = 3;
+	if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
+	{
+		if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+			retval = ERROR_JTAG_QUEUE_FAILED;
+		require_send = 0;
+		first_unsent = cmd;
+	}
+	ft2232_end_state(cmd->cmd.statemove->end_state);
 
-		case JTAG_STATEMOVE:
-			/* only send the maximum buffer size that FT2232C can handle */
-			predicted_size = 3;
-			if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
-			{
-				if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
-					retval = ERROR_JTAG_QUEUE_FAILED;
-				require_send = 0;
-				first_unsent = cmd;
-			}
-			if (cmd->cmd.statemove->end_state != TAP_INVALID)
-				ft2232_end_state(cmd->cmd.statemove->end_state);
+	/* move to end state */
+	if (tap_get_state() != tap_get_end_state())
+	{
+		move_to_state(tap_get_end_state());
+		require_send = 1;
+	}
 
-			/* command "Clock Data to TMS/CS Pin (no Read)" */
-			BUFFER_ADD = 0x4b;
+	return retval;
+}
 
-			BUFFER_ADD = 0x6;       /* scan 7 bits */
+static int ft2232_execute_pathmove(jtag_command_t *cmd)
+{
+	int	predicted_size = 0;
+	int	retval = ERROR_OK;
 
-			/* TMS data bits */
-			BUFFER_ADD = tap_get_tms_path( tap_get_state(), tap_get_end_state() );
-			/* LOG_DEBUG("added TMS scan (no read)"); */
-			tap_set_state( tap_get_end_state() );
-			require_send = 1;
-#ifdef _DEBUG_JTAG_IO_
-			LOG_DEBUG( "statemove: %s", tap_state_name( tap_get_end_state() ) );
-#endif
-			break;
+	tap_state_t*	 path = cmd->cmd.pathmove->path;
+	int	num_states    = cmd->cmd.pathmove->num_states;
 
-		case JTAG_PATHMOVE:
-			/* only send the maximum buffer size that FT2232C can handle */
-			predicted_size = 3 * CEIL(cmd->cmd.pathmove->num_states, 7);
-			if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
-			{
-				if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
-					retval = ERROR_JTAG_QUEUE_FAILED;
-				require_send = 0;
-				first_unsent = cmd;
-			}
-			ft2232_add_pathmove(cmd->cmd.pathmove);
-			require_send = 1;
+	DEBUG_JTAG_IO("pathmove: %i states, current: %s  end: %s", num_states,
+			tap_state_name(tap_get_state()),
+			tap_state_name(path[num_states-1])
+			);
+
+	/* only send the maximum buffer size that FT2232C can handle */
+	predicted_size = 3 * CEIL(num_states, 7);
+	if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
+	{
+		if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+			retval = ERROR_JTAG_QUEUE_FAILED;
+
+		require_send = 0;
+		first_unsent = cmd;
+	}
+
+	ft2232_add_pathmove(path, num_states);
+	require_send = 1;
+
+	return retval;
+}
+
+
+static int ft2232_execute_scan(jtag_command_t *cmd)
+{
+	uint8_t*             buffer;
+	int             scan_size;                  /* size of IR or DR scan */
+	int             predicted_size = 0;
+	int				retval = ERROR_OK;
+
+	enum scan_type  type = jtag_scan_type(cmd->cmd.scan);
+
+	DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN", type);
+
+	scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
+
+	predicted_size = ft2232_predict_scan_out(scan_size, type);
+	if ((predicted_size + 1) > FT2232_BUFFER_SIZE)
+	{
+		LOG_DEBUG("oversized ft2232 scan (predicted_size > FT2232_BUFFER_SIZE)");
+		/* unsent commands before this */
+		if (first_unsent != cmd)
+			if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+				retval = ERROR_JTAG_QUEUE_FAILED;
+
+		/* current command */
+		ft2232_end_state(cmd->cmd.scan->end_state);
+		ft2232_large_scan(cmd->cmd.scan, type, buffer, scan_size);
+		require_send = 0;
+		first_unsent = cmd->next;
+		if (buffer)
+			free(buffer);
+		return retval;
+	}
+	else if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
+	{
+		LOG_DEBUG("ft2232 buffer size reached, sending queued commands (first_unsent: %p, cmd: %p)",
+				first_unsent,
+				cmd);
+		if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+			retval = ERROR_JTAG_QUEUE_FAILED;
+		require_send = 0;
+		first_unsent = cmd;
+	}
+	ft2232_expect_read += ft2232_predict_scan_in(scan_size, type);
+	/* LOG_DEBUG("new read size: %i", ft2232_expect_read); */
+	ft2232_end_state(cmd->cmd.scan->end_state);
+	ft2232_add_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size);
+	require_send = 1;
+	if (buffer)
+		free(buffer);
 #ifdef _DEBUG_JTAG_IO_
-			LOG_DEBUG( "pathmove: %i states, end in %s", cmd->cmd.pathmove->num_states,
-					tap_state_name(cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]) );
+	LOG_DEBUG("%s scan, %i bits, end in %s", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
+			tap_state_name(tap_get_end_state()));
 #endif
-			break;
+	return retval;
+
+}
+
+static int ft2232_execute_reset(jtag_command_t *cmd)
+{
+	int             retval;
+	int             predicted_size = 0;
+	retval = ERROR_OK;
+
+	DEBUG_JTAG_IO("reset trst: %i srst %i",
+			cmd->cmd.reset->trst, cmd->cmd.reset->srst);
+
+	/* only send the maximum buffer size that FT2232C can handle */
+	predicted_size = 3;
+	if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
+	{
+		if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+			retval = ERROR_JTAG_QUEUE_FAILED;
+		require_send = 0;
+		first_unsent = cmd;
+	}
+
+	layout->reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
+	require_send = 1;
 
-		case JTAG_SCAN:
-			scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
-			type = jtag_scan_type(cmd->cmd.scan);
-			predicted_size = ft2232_predict_scan_out(scan_size, type);
-			if ( (predicted_size + 1) > FT2232_BUFFER_SIZE )
-			{
-				LOG_DEBUG("oversized ft2232 scan (predicted_size > FT2232_BUFFER_SIZE)");
-				/* unsent commands before this */
-				if (first_unsent != cmd)
-					if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
-						retval = ERROR_JTAG_QUEUE_FAILED;
-
-				/* current command */
-				if (cmd->cmd.scan->end_state != TAP_INVALID)
-					ft2232_end_state(cmd->cmd.scan->end_state);
-				ft2232_large_scan(cmd->cmd.scan, type, buffer, scan_size);
-				require_send = 0;
-				first_unsent = cmd->next;
-				if (buffer)
-					free(buffer);
-				break;
-			}
-			else if (ft2232_buffer_size + predicted_size + 1 > FT2232_BUFFER_SIZE)
-			{
-				LOG_DEBUG("ft2232 buffer size reached, sending queued commands (first_unsent: %p, cmd: %p)",
-						first_unsent,
-						cmd);
-				if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
-					retval = ERROR_JTAG_QUEUE_FAILED;
-				require_send = 0;
-				first_unsent = cmd;
-			}
-			ft2232_expect_read += ft2232_predict_scan_in(scan_size, type);
-			/* LOG_DEBUG("new read size: %i", ft2232_expect_read); */
-			if (cmd->cmd.scan->end_state != TAP_INVALID)
-				ft2232_end_state(cmd->cmd.scan->end_state);
-			ft2232_add_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size);
-			require_send = 1;
-			if (buffer)
-				free(buffer);
 #ifdef _DEBUG_JTAG_IO_
-			LOG_DEBUG( "%s scan, %i bits, end in %s", (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
-					tap_state_name( tap_get_end_state() ) );
+	LOG_DEBUG("trst: %i, srst: %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 #endif
-			break;
+	return retval;
+}
 
-		case JTAG_SLEEP:
-			if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+static int ft2232_execute_sleep(jtag_command_t *cmd)
+{
+	int             retval;
+	retval = ERROR_OK;
+
+	DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
+
+	if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
 				retval = ERROR_JTAG_QUEUE_FAILED;
-			first_unsent = cmd->next;
-			jtag_sleep(cmd->cmd.sleep->us);
+	first_unsent = cmd->next;
+	jtag_sleep(cmd->cmd.sleep->us);
 #ifdef _DEBUG_JTAG_IO_
-			LOG_DEBUG( "sleep %i usec while in %s", cmd->cmd.sleep->us, tap_state_name( tap_get_state() ) );
+			LOG_DEBUG("sleep %i usec while in %s", cmd->cmd.sleep->us, tap_state_name(tap_get_state()));
 #endif
-			break;
 
-		case JTAG_STABLECLOCKS:
+	return retval;
+}
 
-			/* this is only allowed while in a stable state.  A check for a stable
-			 * state was done in jtag_add_clocks()
-			 */
-			if (ft2232_stableclocks(cmd->cmd.stableclocks->num_cycles, cmd) != ERROR_OK)
-				retval = ERROR_JTAG_QUEUE_FAILED;
+static int ft2232_execute_stableclocks(jtag_command_t *cmd)
+{
+	int             retval;
+	retval = ERROR_OK;
+
+	/* this is only allowed while in a stable state.  A check for a stable
+	 * state was done in jtag_add_clocks()
+	 */
+	if (ft2232_stableclocks(cmd->cmd.stableclocks->num_cycles, cmd) != ERROR_OK)
+		retval = ERROR_JTAG_QUEUE_FAILED;
 #ifdef _DEBUG_JTAG_IO_
-			LOG_DEBUG( "clocks %i while in %s", cmd->cmd.stableclocks->num_cycles, tap_state_name( tap_get_state() ) );
+	LOG_DEBUG("clocks %i while in %s", cmd->cmd.stableclocks->num_cycles, tap_state_name(tap_get_state()));
 #endif
-			break;
 
-		default:
-			LOG_ERROR("BUG: unknown JTAG command type encountered");
-			exit(-1);
-		}
+	return retval;
+}
 
+static int ft2232_execute_command(jtag_command_t *cmd)
+{
+	int             retval;
+	retval = ERROR_OK;
+
+	switch (cmd->type)
+	{
+	case JTAG_RESET:	retval = ft2232_execute_reset(cmd); break;
+	case JTAG_RUNTEST:	retval = ft2232_execute_runtest(cmd); break;
+	case JTAG_STATEMOVE: retval = ft2232_execute_statemove(cmd); break;
+	case JTAG_PATHMOVE:	retval = ft2232_execute_pathmove(cmd); break;
+	case JTAG_SCAN:		retval = ft2232_execute_scan(cmd); break;
+	case JTAG_SLEEP:	retval = ft2232_execute_sleep(cmd); break;
+	case JTAG_STABLECLOCKS:	retval = ft2232_execute_stableclocks(cmd); break;
+	default:
+		LOG_ERROR("BUG: unknown JTAG command type encountered");
+		exit(-1);
+	}
+	return retval;
+}
+
+static int ft2232_execute_queue()
+{
+	jtag_command_t* cmd = jtag_command_queue;   /* currently processed command */
+	int             retval;
+
+	first_unsent = cmd;         /* next command that has to be sent */
+	require_send = 0;
+
+	/* return ERROR_OK, unless ft2232_send_and_recv reports a failed check
+	 * that wasn't handled by a caller-provided error handler
+	 */
+	retval = ERROR_OK;
+
+	ft2232_buffer_size = 0;
+	ft2232_expect_read = 0;
+
+	/* blink, if the current layout has that feature */
+	if (layout->blink)
+		layout->blink();
+
+	while (cmd)
+	{
+		if (ft2232_execute_command(cmd) != ERROR_OK)
+			retval = ERROR_JTAG_QUEUE_FAILED;
+		/* Start reading input before FT2232 TX buffer fills up */
 		cmd = cmd->next;
+		if (ft2232_expect_read > 256)
+		{
+			if (ft2232_send_and_recv(first_unsent, cmd) != ERROR_OK)
+				retval = ERROR_JTAG_QUEUE_FAILED;
+			first_unsent = cmd;
+		}
 	}
 
 	if (require_send > 0)
@@ -1530,18 +1791,21 @@ int ft2232_execute_queue()
 
 
 #if BUILD_FT2232_FTD2XX == 1
-static int ft2232_init_ftd2xx(u16 vid, u16 pid, int more, int* try_more)
+static int ft2232_init_ftd2xx(uint16_t vid, uint16_t pid, int more, int* try_more)
 {
-	FT_STATUS status;
-	DWORD     openex_flags  = 0;
-	char*     openex_string = NULL;
-	u8        latency_timer;
+	FT_STATUS	status;
+	DWORD		deviceID;
+	char		SerialNumber[16];
+	char		Description[64];
+	DWORD	openex_flags  = 0;
+	char*	openex_string = NULL;
+	uint8_t	latency_timer;
 
 	LOG_DEBUG("'ft2232' interface using FTD2XX with '%s' layout (%4.4x:%4.4x)", ft2232_layout, vid, pid);
 
 #if IS_WIN32 == 0
 	/* Add non-standard Vid/Pid to the linux driver */
-	if ( ( status = FT_SetVIDPID(vid, pid) ) != FT_OK )
+	if ((status = FT_SetVIDPID(vid, pid)) != FT_OK)
 	{
 		LOG_WARNING("couldn't add %4.4x:%4.4x", vid, pid);
 	}
@@ -1572,27 +1836,27 @@ static int ft2232_init_ftd2xx(u16 vid, u16 pid, int more, int* try_more)
 	}
 
 	status = FT_OpenEx(openex_string, openex_flags, &ftdih);
-	if( status != FT_OK ){
+	if (status != FT_OK) {
 		// under Win32, the FTD2XX driver appends an "A" to the end
 		// of the description, if we tried by the desc, then
 		// try by the alternate "A" description.
-		if( openex_string == ft2232_device_desc ){
+		if (openex_string == ft2232_device_desc) {
 			// Try the alternate method.
 			openex_string = ft2232_device_desc_A;
 			status = FT_OpenEx(openex_string, openex_flags, &ftdih);
-			if( status == FT_OK ){
+			if (status == FT_OK) {
 				// yea, the "alternate" method worked!
 			} else {
 				// drat, give the user a meaningfull message.
 				// telling the use we tried *BOTH* methods.
 				LOG_WARNING("Unable to open FTDI Device tried: '%s' and '%s'\n",
 							ft2232_device_desc,
-							ft2232_device_desc_A );
+							ft2232_device_desc_A);
 			}
 		}
 	}
 
-	if ( status != FT_OK )
+	if (status != FT_OK)
 	{
 		DWORD num_devices;
 
@@ -1606,8 +1870,8 @@ static int ft2232_init_ftd2xx(u16 vid, u16 pid, int more, int* try_more)
 		status = FT_ListDevices(&num_devices, NULL, FT_LIST_NUMBER_ONLY);
 		if (status == FT_OK)
 		{
-			char** desc_array = malloc( sizeof(char*) * (num_devices + 1) );
-			int    i;
+			char** desc_array = malloc(sizeof(char*) * (num_devices + 1));
+			uint32_t i;
 
 			for (i = 0; i < num_devices; i++)
 				desc_array[i] = malloc(64);
@@ -1635,13 +1899,13 @@ static int ft2232_init_ftd2xx(u16 vid, u16 pid, int more, int* try_more)
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
-	if ( ( status = FT_SetLatencyTimer(ftdih, ft2232_latency) ) != FT_OK )
+	if ((status = FT_SetLatencyTimer(ftdih, ft2232_latency)) != FT_OK)
 	{
 		LOG_ERROR("unable to set latency timer: %lu", status);
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
-	if ( ( status = FT_GetLatencyTimer(ftdih, &latency_timer) ) != FT_OK )
+	if ((status = FT_GetLatencyTimer(ftdih, &latency_timer)) != FT_OK)
 	{
 		LOG_ERROR("unable to get latency timer: %lu", status);
 		return ERROR_JTAG_INIT_FAILED;
@@ -1651,18 +1915,39 @@ static int ft2232_init_ftd2xx(u16 vid, u16 pid, int more, int* try_more)
 		LOG_DEBUG("current latency timer: %i", latency_timer);
 	}
 
-	if ( ( status = FT_SetTimeouts(ftdih, 5000, 5000) ) != FT_OK )
+	if ((status = FT_SetTimeouts(ftdih, 5000, 5000)) != FT_OK)
 	{
 		LOG_ERROR("unable to set timeouts: %lu", status);
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
-	if ( ( status = FT_SetBitMode(ftdih, 0x0b, 2) ) != FT_OK )
+	if ((status = FT_SetBitMode(ftdih, 0x0b, 2)) != FT_OK)
 	{
 		LOG_ERROR("unable to enable bit i/o mode: %lu", status);
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
+	if ((status = FT_GetDeviceInfo(ftdih, &ftdi_device, &deviceID, SerialNumber, Description, NULL)) != FT_OK)
+	{
+		LOG_ERROR("unable to get FT_GetDeviceInfo: %lu", status);
+		return ERROR_JTAG_INIT_FAILED;
+	}
+	else
+	{
+		LOG_INFO("device: %lu", ftdi_device);
+		LOG_INFO("deviceID: %lu", deviceID);
+		LOG_INFO("SerialNumber: %s", SerialNumber);
+		LOG_INFO("Description: %s", Description);
+
+#ifdef BUILD_FTD2XX_HIGHSPEED
+		if (ft2232_device_is_highspeed())
+		{
+			ft2232_max_tck = FTDI_2232H_4232H_MAX_TCK;
+			LOG_INFO("max TCK change to: %u kHz", ft2232_max_tck);
+		}
+#endif
+	}
+
 	return ERROR_OK;
 }
 
@@ -1671,7 +1956,7 @@ static int ft2232_purge_ftd2xx(void)
 {
 	FT_STATUS status;
 
-	if ( ( status = FT_Purge(ftdih, FT_PURGE_RX | FT_PURGE_TX) ) != FT_OK )
+	if ((status = FT_Purge(ftdih, FT_PURGE_RX | FT_PURGE_TX)) != FT_OK)
 	{
 		LOG_ERROR("error purging ftd2xx device: %lu", status);
 		return ERROR_JTAG_INIT_FAILED;
@@ -1684,9 +1969,9 @@ static int ft2232_purge_ftd2xx(void)
 #endif /* BUILD_FT2232_FTD2XX == 1 */
 
 #if BUILD_FT2232_LIBFTDI == 1
-static int ft2232_init_libftdi(u16 vid, u16 pid, int more, int* try_more)
+static int ft2232_init_libftdi(uint16_t vid, uint16_t pid, int more, int* try_more)
 {
-	u8 latency_timer;
+	uint8_t latency_timer;
 
 	LOG_DEBUG("'ft2232' interface using libftdi with '%s' layout (%4.4x:%4.4x)",
 			ft2232_layout, vid, pid);
@@ -1694,6 +1979,12 @@ static int ft2232_init_libftdi(u16 vid, u16 pid, int more, int* try_more)
 	if (ftdi_init(&ftdic) < 0)
 		return ERROR_JTAG_INIT_FAILED;
 
+	if (ftdi_set_interface(&ftdic, INTERFACE_A) < 0)
+	{
+		LOG_ERROR("unable to select FT2232 channel A: %s", ftdic.error_str);
+		return ERROR_JTAG_INIT_FAILED;
+	}
+
 	/* context, vendor id, product id */
 	if (ftdi_usb_open_desc(&ftdic, vid, pid, ft2232_device_desc,
 				ft2232_serial) < 0)
@@ -1707,12 +1998,7 @@ static int ft2232_init_libftdi(u16 vid, u16 pid, int more, int* try_more)
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
-	if (ftdi_set_interface(&ftdic, INTERFACE_A) < 0)
-	{
-		LOG_ERROR("unable to select FT2232 channel A: %s", ftdic.error_str);
-		return ERROR_JTAG_INIT_FAILED;
-	}
-
+	/* There is already a reset in ftdi_usb_open_desc, this should be redundant */
 	if (ftdi_usb_reset(&ftdic) < 0)
 	{
 		LOG_ERROR("unable to reset ftdi device");
@@ -1755,15 +2041,24 @@ static int ft2232_purge_libftdi(void)
 
 #endif /* BUILD_FT2232_LIBFTDI == 1 */
 
-int ft2232_init(void)
+static int ft2232_init(void)
 {
-	u8  buf[1];
+	uint8_t  buf[1];
 	int retval;
-	u32 bytes_written;
-	ft2232_layout_t* cur_layout = ft2232_layouts;
+	uint32_t bytes_written;
+	const ft2232_layout_t* cur_layout = ft2232_layouts;
 	int i;
 
-	if ( (ft2232_layout == NULL) || (ft2232_layout[0] == 0) )
+	if (tap_get_tms_path_len(TAP_IRPAUSE,TAP_IRPAUSE) == 7)
+	{
+		LOG_DEBUG("ft2232 interface using 7 step jtag state transitions");
+	}
+	else
+	{
+		LOG_DEBUG("ft2232 interface using shortest path jtag state transitions");
+
+	}
+	if ((ft2232_layout == NULL) || (ft2232_layout[0] == 0))
 	{
 		ft2232_layout = "usbjtag";
 		LOG_WARNING("No ft2232 layout specified, using default 'usbjtag'");
@@ -1818,10 +2113,10 @@ int ft2232_init(void)
 	if (layout->init() != ERROR_OK)
 		return ERROR_JTAG_INIT_FAILED;
 
-	ft2232_speed(jtag_speed);
+	ft2232_speed(jtag_get_speed());
 
 	buf[0] = 0x85; /* Disconnect TDI/DO to TDO/DI for Loopback */
-	if ( ( ( retval = ft2232_write(buf, 1, &bytes_written) ) != ERROR_OK ) || (bytes_written != 1) )
+	if (((retval = ft2232_write(buf, 1, &bytes_written)) != ERROR_OK) || (bytes_written != 1))
 	{
 		LOG_ERROR("couldn't write to FT2232 to disable loopback");
 		return ERROR_JTAG_INIT_FAILED;
@@ -1837,10 +2132,10 @@ int ft2232_init(void)
 }
 
 
-int usbjtag_init(void)
+static int usbjtag_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x08;
 	low_direction = 0x0b;
@@ -1874,6 +2169,7 @@ int usbjtag_init(void)
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	if (jtag_reset_config & RESET_TRST_OPEN_DRAIN)
 	{
 		low_direction &= ~nTRSTnOE; /* nTRST input */
@@ -1898,11 +2194,11 @@ int usbjtag_init(void)
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, xRST high) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, xRST high) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'USBJTAG' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -1912,21 +2208,21 @@ int usbjtag_init(void)
 }
 
 
-int axm0432_jtag_init(void)
+static int axm0432_jtag_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x08;
 	low_direction = 0x2b;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in, nOE=out */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE = out */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'JTAGkey' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -1948,6 +2244,7 @@ int axm0432_jtag_init(void)
 	high_output    = 0x0;
 	high_direction = 0x0c;
 
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	if (jtag_reset_config & RESET_TRST_OPEN_DRAIN)
 	{
 		LOG_ERROR("can't set nTRSTOE to push-pull on the Dicarlo jtag");
@@ -1972,7 +2269,7 @@ int axm0432_jtag_init(void)
 	buf[2] = high_direction;    /* all outputs (xRST and xRSTnOE) */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'Dicarlo' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -1982,21 +2279,21 @@ int axm0432_jtag_init(void)
 }
 
 
-int jtagkey_init(void)
+static int jtagkey_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x08;
 	low_direction = 0x1b;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in, nOE=out */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE = out */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'JTAGkey' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2009,8 +2306,8 @@ int jtagkey_init(void)
 		nSRST    = 0x02;
 		nSRSTnOE = 0x08;
 	}
-	else if ( (strcmp(layout->name, "jtagkey_prototype_v1") == 0)
-			 || (strcmp(layout->name, "oocdlink") == 0) )
+	else if ((strcmp(layout->name, "jtagkey_prototype_v1") == 0)
+			 || (strcmp(layout->name, "oocdlink") == 0))
 	{
 		nTRST    = 0x02;
 		nTRSTnOE = 0x1;
@@ -2026,6 +2323,7 @@ int jtagkey_init(void)
 	high_output    = 0x0;
 	high_direction = 0x0f;
 
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	if (jtag_reset_config & RESET_TRST_OPEN_DRAIN)
 	{
 		high_output |= nTRSTnOE;
@@ -2054,7 +2352,7 @@ int jtagkey_init(void)
 	buf[2] = high_direction;    /* all outputs (xRST and xRSTnOE) */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'JTAGkey' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2064,23 +2362,23 @@ int jtagkey_init(void)
 }
 
 
-int olimex_jtag_init(void)
+static int olimex_jtag_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x08;
 	low_direction = 0x1b;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in, nOE=out */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE = out */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
-		LOG_ERROR("couldn't initialize FT2232 with 'JTAGkey' layout");
+		LOG_ERROR("couldn't initialize FT2232 with 'Olimex' layout");
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
@@ -2092,6 +2390,7 @@ int olimex_jtag_init(void)
 	high_output    = 0x0;
 	high_direction = 0x0f;
 
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
 	if (jtag_reset_config & RESET_TRST_OPEN_DRAIN)
 	{
 		high_output |= nTRSTnOE;
@@ -2121,9 +2420,9 @@ int olimex_jtag_init(void)
 	buf[2] = high_direction;    /* all outputs (xRST and xRSTnOE) */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if ((ft2232_write(buf, 3, &bytes_written) != ERROR_OK) || (bytes_written != 3))
 	{
-		LOG_ERROR("couldn't initialize FT2232 with 'JTAGkey' layout");
+		LOG_ERROR("couldn't initialize FT2232 with 'Olimex' layout");
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
@@ -2131,21 +2430,21 @@ int olimex_jtag_init(void)
 }
 
 
-int flyswatter_init(void)
+static int flyswatter_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x18;
 	low_direction = 0xfb;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in, nOE[12]=out, n[ST]srst=out */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE[12]=out, n[ST]srst = out */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'flyswatter' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2168,7 +2467,7 @@ int flyswatter_init(void)
 	buf[2] = high_direction;    /* all outputs (xRST and xRSTnOE) */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'flyswatter' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2178,21 +2477,21 @@ int flyswatter_init(void)
 }
 
 
-int turtle_init(void)
+static int turtle_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x08;
 	low_direction = 0x5b;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in, nOE=out */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE = out */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'turtelizer2' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2209,7 +2508,7 @@ int turtle_init(void)
 	buf[2] = high_direction;
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'turtelizer2' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2219,21 +2518,21 @@ int turtle_init(void)
 }
 
 
-int comstick_init(void)
+static int comstick_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x08;
 	low_direction = 0x0b;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in, nOE=out */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE = out */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'comstick' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2253,7 +2552,7 @@ int comstick_init(void)
 	buf[2] = high_direction;
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'comstick' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2263,21 +2562,21 @@ int comstick_init(void)
 }
 
 
-int stm32stick_init(void)
+static int stm32stick_init(void)
 {
-	u8  buf[3];
-	u32 bytes_written;
+	uint8_t  buf[3];
+	uint32_t bytes_written;
 
 	low_output    = 0x88;
 	low_direction = 0x8b;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80;          /* command "set data bits low byte" */
-	buf[1] = low_output;    /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in, nOE=out */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE = out */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'stm32stick' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2297,7 +2596,7 @@ int stm32stick_init(void)
 	buf[2] = high_direction;
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
-	if ( ( ( ft2232_write(buf, 3, &bytes_written) ) != ERROR_OK ) || (bytes_written != 3) )
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
 		LOG_ERROR("couldn't initialize FT2232 with 'stm32stick' layout");
 		return ERROR_JTAG_INIT_FAILED;
@@ -2307,23 +2606,23 @@ int stm32stick_init(void)
 }
 
 
-int sheevaplug_init(void)
+static int sheevaplug_init(void)
 {
-	u8 buf[3];
-	u32 bytes_written;
+	uint8_t buf[3];
+	uint32_t bytes_written;
 
 	low_output = 0x08;
 	low_direction = 0x1b;
 
 	/* initialize low byte for jtag */
 	buf[0] = 0x80; /* command "set data bits low byte" */
-	buf[1] = low_output; /* value (TMS=1,TCK=0, TDI=0, nOE=0) */
-	buf[2] = low_direction; /* dir (output=1), TCK/TDI/TMS=out, TDO=in */
+	buf[1] = low_output; /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in */
 	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
 
 	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
-		LOG_ERROR("couldn't initialize FT2232 with 'sheevaplug' layout"); 
+		LOG_ERROR("couldn't initialize FT2232 with 'sheevaplug' layout");
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
@@ -2351,14 +2650,57 @@ int sheevaplug_init(void)
 
 	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
 	{
-		LOG_ERROR("couldn't initialize FT2232 with 'sheevaplug' layout"); 
+		LOG_ERROR("couldn't initialize FT2232 with 'sheevaplug' layout");
+		return ERROR_JTAG_INIT_FAILED;
+	}
+
+	return ERROR_OK;
+}
+
+static int cortino_jtag_init(void)
+{
+	uint8_t  buf[3];
+	uint32_t bytes_written;
+
+	low_output    = 0x08;
+	low_direction = 0x1b;
+
+	/* initialize low byte for jtag */
+	buf[0] = 0x80;          /* command "set data bits low byte" */
+	buf[1] = low_output;    /* value (TMS = 1,TCK = 0, TDI = 0, nOE = 0) */
+	buf[2] = low_direction; /* dir (output = 1), TCK/TDI/TMS = out, TDO = in, nOE = out */
+	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
+
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
+	{
+		LOG_ERROR("couldn't initialize FT2232 with 'cortino' layout");
+		return ERROR_JTAG_INIT_FAILED;
+	}
+
+	nTRST    = 0x01;
+	nTRSTnOE = 0x00;    /* no output enable for nTRST */
+	nSRST    = 0x02;
+	nSRSTnOE = 0x00;    /* no output enable for nSRST */
+
+	high_output    = 0x03;
+	high_direction = 0x03;
+
+	/* initialize high port */
+	buf[0] = 0x82; /* command "set data bits high byte" */
+	buf[1] = high_output;
+	buf[2] = high_direction;
+	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
+
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3))
+	{
+		LOG_ERROR("couldn't initialize FT2232 with 'stm32stick' layout");
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
 	return ERROR_OK;
 }
 
-void olimex_jtag_blink(void)
+static void olimex_jtag_blink(void)
 {
 	/* Olimex ARM-USB-OCD has a LED connected to ACBUS3
 	 * ACBUS3 is bit 3 of the GPIOH port
@@ -2374,26 +2716,26 @@ void olimex_jtag_blink(void)
 		high_output |= 0x08;
 	}
 
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 }
 
 
-void flyswatter_jtag_blink(void)
+static void flyswatter_jtag_blink(void)
 {
 	/*
 	 * Flyswatter has two LEDs connected to ACBUS2 and ACBUS3
 	 */
 	high_output ^= 0x0c;
 
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 }
 
 
-void turtle_jtag_blink(void)
+static void turtle_jtag_blink(void)
 {
 	/*
 	 * Turtelizer2 has two LEDs connected to ACBUS2 and ACBUS3
@@ -2407,21 +2749,19 @@ void turtle_jtag_blink(void)
 		high_output = 0x08;
 	}
 
-	BUFFER_ADD = 0x82;
-	BUFFER_ADD = high_output;
-	BUFFER_ADD = high_direction;
+	buffer_write(0x82);
+	buffer_write(high_output);
+	buffer_write(high_direction);
 }
 
 
-int ft2232_quit(void)
+static int ft2232_quit(void)
 {
 #if BUILD_FT2232_FTD2XX == 1
 	FT_STATUS status;
 
 	status = FT_Close(ftdih);
 #elif BUILD_FT2232_LIBFTDI == 1
-	ftdi_disable_bitbang(&ftdic);
-
 	ftdi_usb_close(&ftdic);
 
 	ftdi_deinit(&ftdic);
@@ -2434,30 +2774,30 @@ int ft2232_quit(void)
 }
 
 
-int ft2232_handle_device_desc_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
+static int ft2232_handle_device_desc_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
 {
 	char *cp;
 	char buf[200];
 	if (argc == 1)
 	{
 		ft2232_device_desc = strdup(args[0]);
-		cp = strchr( ft2232_device_desc, 0 );
+		cp = strchr(ft2232_device_desc, 0);
 		// under Win32, the FTD2XX driver appends an "A" to the end
 		// of the description, this examines the given desc
 		// and creates the 'missing' _A or non_A variable.
-		if( (cp[-1] == 'A') && (cp[-2]==' ') ){
+		if ((cp[-1] == 'A') && (cp[-2]==' ')) {
 			// it was, so make this the "A" version.
 			ft2232_device_desc_A = ft2232_device_desc;
 			// and *CREATE* the non-A version.
-			strcpy( buf, ft2232_device_desc );
-			cp = strchr( buf, 0 );
+			strcpy(buf, ft2232_device_desc);
+			cp = strchr(buf, 0);
 			cp[-2] = 0;
-			ft2232_device_desc =  strdup( buf );
+			ft2232_device_desc =  strdup(buf);
 		} else {
-			// <space>A not defined
+			// <space > A not defined
 			// so create it
-			sprintf( buf, "%s A", ft2232_device_desc );
-			ft2232_device_desc_A = strdup( buf );
+			sprintf(buf, "%s A", ft2232_device_desc);
+			ft2232_device_desc_A = strdup(buf);
 		}
 	}
 	else
@@ -2469,7 +2809,7 @@ int ft2232_handle_device_desc_command(struct command_context_s* cmd_ctx, char* c
 }
 
 
-int ft2232_handle_serial_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
+static int ft2232_handle_serial_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
 {
 	if (argc == 1)
 	{
@@ -2484,7 +2824,7 @@ int ft2232_handle_serial_command(struct command_context_s* cmd_ctx, char* cmd, c
 }
 
 
-int ft2232_handle_layout_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
+static int ft2232_handle_layout_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
 {
 	if (argc == 0)
 		return ERROR_OK;
@@ -2496,27 +2836,33 @@ int ft2232_handle_layout_command(struct command_context_s* cmd_ctx, char* cmd, c
 }
 
 
-int ft2232_handle_vid_pid_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
+static int ft2232_handle_vid_pid_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
 {
-	int i;
-
 	if (argc > MAX_USB_IDS * 2)
 	{
 		LOG_WARNING("ignoring extra IDs in ft2232_vid_pid "
 					"(maximum is %d pairs)", MAX_USB_IDS);
 		argc = MAX_USB_IDS * 2;
 	}
-	if ( argc < 2 || (argc & 1) )
+	if (argc < 2 || (argc & 1))
 	{
 		LOG_WARNING("incomplete ft2232_vid_pid configuration directive");
 		if (argc < 2)
-			return ERROR_OK;
+			return ERROR_COMMAND_SYNTAX_ERROR;
+		// remove the incomplete trailing id
+		argc -= 1;
 	}
 
-	for (i = 0; i + 1 < argc; i += 2)
+	int i;
+	int retval = ERROR_OK;
+	for (i = 0; i < argc; i += 2)
 	{
-		ft2232_vid[i >> 1] = strtol(args[i], NULL, 0);
-		ft2232_pid[i >> 1] = strtol(args[i + 1], NULL, 0);
+		retval = parse_u16(args[i], &ft2232_vid[i >> 1]);
+		if (ERROR_OK != retval)
+			break;
+		retval = parse_u16(args[i + 1], &ft2232_pid[i >> 1]);
+		if (ERROR_OK != retval)
+			break;
 	}
 
 	/*
@@ -2525,11 +2871,11 @@ int ft2232_handle_vid_pid_command(struct command_context_s* cmd_ctx, char* cmd,
 	 */
 	ft2232_vid[i >> 1] = ft2232_pid[i >> 1] = 0;
 
-	return ERROR_OK;
+	return retval;
 }
 
 
-int ft2232_handle_latency_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
+static int ft2232_handle_latency_command(struct command_context_s* cmd_ctx, char* cmd, char** args, int argc)
 {
 	if (argc == 1)
 	{
@@ -2549,7 +2895,7 @@ static int ft2232_stableclocks(int num_cycles, jtag_command_t* cmd)
 	int retval = 0;
 
 	/* 7 bits of either ones or zeros. */
-	u8  tms = (tap_get_state() == TAP_RESET ? 0x7F : 0x00);
+	uint8_t  tms = (tap_get_state() == TAP_RESET ? 0x7F : 0x00);
 
 	while (num_cycles > 0)
 	{
@@ -2567,14 +2913,16 @@ static int ft2232_stableclocks(int num_cycles, jtag_command_t* cmd)
 			first_unsent = cmd;
 		}
 
+		/* there are no state transitions in this code, so omit state tracking */
+
 		/* command "Clock Data to TMS/CS Pin (no Read)" */
-		BUFFER_ADD = 0x4b;
+		buffer_write(0x4b);
 
 		/* scan 7 bit */
-		BUFFER_ADD = bitcount_per_command - 1;
+		buffer_write(bitcount_per_command - 1);
 
 		/* TMS data bits are either all zeros or ones to stay in the current stable state */
-		BUFFER_ADD = tms;
+		buffer_write(tms);
 
 		require_send = 1;
 
@@ -2583,3 +2931,109 @@ static int ft2232_stableclocks(int num_cycles, jtag_command_t* cmd)
 
 	return retval;
 }
+
+
+/* ---------------------------------------------------------------------
+ * Support for IceBear JTAG adapter from Section5:
+ *	http://section5.ch/icebear
+ *
+ * Author: Sten, debian@sansys-electronic.com
+ */
+
+/* Icebear pin layout
+ *
+ * ADBUS5 (nEMU) nSRST	| 2   1|	GND (10k->VCC)
+ * GND GND		| 4   3|	n.c.
+ * ADBUS3 TMS		| 6   5|	ADBUS6 VCC
+ * ADBUS0 TCK		| 8   7|	ADBUS7 (GND)
+ * ADBUS4 nTRST		|10   9|	ACBUS0 (GND)
+ * ADBUS1 TDI		|12  11|	ACBUS1 (GND)
+ * ADBUS2 TDO		|14  13|	GND GND
+ *
+ * ADBUS0 O L TCK		ACBUS0 GND
+ * ADBUS1 O L TDI		ACBUS1 GND
+ * ADBUS2 I   TDO		ACBUS2 n.c.
+ * ADBUS3 O H TMS		ACBUS3 n.c.
+ * ADBUS4 O H nTRST
+ * ADBUS5 O H nSRST
+ * ADBUS6 -   VCC
+ * ADBUS7 -   GND
+ */
+static int icebear_jtag_init(void) {
+	uint8_t  buf[3];
+	uint32_t bytes_written;
+
+	low_direction	= 0x0b;	/* output: TCK TDI TMS; input: TDO */
+	low_output	= 0x08;	/* high: TMS; low: TCK TDI */
+	nTRST		= 0x10;
+	nSRST		= 0x20;
+
+	enum reset_types jtag_reset_config = jtag_get_reset_config();
+	if ((jtag_reset_config & RESET_TRST_OPEN_DRAIN) != 0) {
+		low_direction	&= ~nTRST;	/* nTRST high impedance */
+	}
+	else {
+		low_direction	|= nTRST;
+		low_output	|= nTRST;
+	}
+
+	low_direction	|= nSRST;
+	low_output	|= nSRST;
+
+	/* initialize low byte for jtag */
+	buf[0] = 0x80;          /* command "set data bits low byte" */
+	buf[1] = low_output;
+	buf[2] = low_direction;
+	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
+
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3)) {
+		LOG_ERROR("couldn't initialize FT2232 with 'IceBear' layout (low)");
+		return ERROR_JTAG_INIT_FAILED;
+	}
+
+	high_output    = 0x0;
+	high_direction = 0x00;
+
+
+	/* initialize high port */
+	buf[0] = 0x82;              /* command "set data bits high byte" */
+	buf[1] = high_output;       /* value */
+	buf[2] = high_direction;    /* all outputs (xRST and xRSTnOE) */
+	LOG_DEBUG("%2.2x %2.2x %2.2x", buf[0], buf[1], buf[2]);
+
+	if (((ft2232_write(buf, 3, &bytes_written)) != ERROR_OK) || (bytes_written != 3)) {
+		LOG_ERROR("couldn't initialize FT2232 with 'IceBear' layout (high)");
+		return ERROR_JTAG_INIT_FAILED;
+	}
+
+	return ERROR_OK;
+}
+
+static void icebear_jtag_reset(int trst, int srst) {
+
+	if (trst == 1) {
+		low_direction	|= nTRST;
+		low_output	&= ~nTRST;
+	}
+	else if (trst == 0) {
+		enum reset_types jtag_reset_config = jtag_get_reset_config();
+		if ((jtag_reset_config & RESET_TRST_OPEN_DRAIN) != 0)
+			low_direction	&= ~nTRST;
+		else
+			low_output	|= nTRST;
+	}
+
+	if (srst == 1) {
+		low_output &= ~nSRST;
+	}
+	else if (srst == 0) {
+		low_output |= nSRST;
+	}
+
+	/* command "set data bits low byte" */
+	buffer_write(0x80);
+	buffer_write(low_output);
+	buffer_write(low_direction);
+
+	LOG_DEBUG("trst: %i, srst: %i, low_output: 0x%2.2x, low_direction: 0x%2.2x", trst, srst, low_output, low_direction);
+}