X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Ftarget%2Fmips32_pracc.c;h=da9a2b718092c8a6788b00bd43f91b6f781ebd26;hp=8786df040ba1a06f12727b00ea184502263d2045;hb=517ba0690dcc9e859a05df2113ce32401a5ab254;hpb=18077654afaa6f5325abf0d01187161770ff8ce4

diff --git a/src/target/mips32_pracc.c b/src/target/mips32_pracc.c
index 8786df040b..da9a2b7180 100644
--- a/src/target/mips32_pracc.c
+++ b/src/target/mips32_pracc.c
@@ -22,7 +22,7 @@
  *   You should have received a copy of the GNU General Public License     *
  *   along with this program; if not, write to the                         *
  *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  ***************************************************************************/
 
 /*
@@ -153,10 +153,15 @@ static int mips32_pracc_exec_read(struct mips32_pracc_context *ctx, uint32_t add
 		}
 		/* save to our debug stack */
 		data = ctx->stack[--ctx->stack_offset];
+	} else if (address >= 0xFF200000) {
+		/* CPU keeps reading at the end of execution.
+		 * If we after 0xF0000000  address range, we can use
+		 * one shot jump instruction.
+		 * Since this instruction is limited to
+		 * 26bit, we need to do some magic to fit it to our needs. */
+		LOG_DEBUG("Reading unexpected address. Jump to 0xFF200200\n");
+		data = MIPS32_J((0x0FFFFFFF & 0xFF200200) >> 2);
 	} else {
-		/* TODO: send JMP 0xFF200000 instruction. Hopefully processor jump back
-		 * to start of debug vector */
-
 		LOG_ERROR("Error reading unexpected address 0x%8.8" PRIx32 "", address);
 		return ERROR_JTAG_DEVICE_ERROR;
 	}
@@ -194,11 +199,7 @@ static int mips32_pracc_exec_write(struct mips32_pracc_context *ctx, uint32_t ad
 	if (retval != ERROR_OK)
 		return retval;
 
-	if ((address >= MIPS32_PRACC_PARAM_IN)
-		&& (address < MIPS32_PRACC_PARAM_IN + ctx->num_iparam * 4)) {
-		offset = (address - MIPS32_PRACC_PARAM_IN) / 4;
-		ctx->local_iparam[offset] = data;
-	} else if ((address >= MIPS32_PRACC_PARAM_OUT)
+	if ((address >= MIPS32_PRACC_PARAM_OUT)
 		&& (address < MIPS32_PRACC_PARAM_OUT + ctx->num_oparam * 4)) {
 		offset = (address - MIPS32_PRACC_PARAM_OUT) / 4;
 		ctx->local_oparam[offset] = data;
@@ -274,24 +275,155 @@ int mips32_pracc_exec(struct mips_ejtag *ejtag_info, int code_len, const uint32_
 	return ERROR_OK;
 }
 
-static int mips32_pracc_read_u32(struct mips_ejtag *ejtag_info, uint32_t addr, uint32_t *buf)
+inline void pracc_queue_init(struct pracc_queue_info *ctx)
 {
-	uint32_t code[] = {
-														/* start: */
-		MIPS32_MTC0(15, 31, 0),						/* move $15 to COP0 DeSave */
-		MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR),				/* $15 = MIPS32_PRACC_BASE_ADDR */
-		MIPS32_SW(8, PRACC_STACK_OFFSET, 15),				/* sw $8,PRACC_STACK_OFFSET($15) */
-
-		MIPS32_LUI(8, UPPER16((addr + 0x8000))),                        /* load  $8 with modified upper address */
-		MIPS32_LW(8, LOWER16(addr), 8),					/* lw $8, LOWER16(addr)($8) */
-		MIPS32_SW(8, PRACC_OUT_OFFSET, 15),				/* sw $8,PRACC_OUT_OFFSET($15) */
-
-		MIPS32_LW(8, PRACC_STACK_OFFSET, 15),				/* lw $8,PRACC_STACK_OFFSET($15) */
-		MIPS32_B(NEG16(8)),							/* b start */
-		MIPS32_MFC0(15, 31, 0),						/* move COP0 DeSave to $15 */
-	};
+	ctx->retval = ERROR_OK;
+	ctx->code_count = 0;
+	ctx->store_count = 0;
+
+	ctx->pracc_list = malloc(2 * ctx->max_code * sizeof(uint32_t));
+	if (ctx->pracc_list == NULL) {
+		LOG_ERROR("Out of memory");
+		ctx->retval = ERROR_FAIL;
+	}
+}
+
+inline void pracc_add(struct pracc_queue_info *ctx, uint32_t addr, uint32_t instr)
+{
+	ctx->pracc_list[ctx->max_code + ctx->code_count] = addr;
+	ctx->pracc_list[ctx->code_count++] = instr;
+	if (addr)
+		ctx->store_count++;
+}
+
+inline void pracc_queue_free(struct pracc_queue_info *ctx)
+{
+	if (ctx->code_count > ctx->max_code)	/* Only for internal check, will be erased */
+		LOG_ERROR("Internal error, code count: %d > max code: %d", ctx->code_count, ctx->max_code);
+	if (ctx->pracc_list != NULL)
+		free(ctx->pracc_list);
+}
+
+int mips32_pracc_queue_exec(struct mips_ejtag *ejtag_info, struct pracc_queue_info *ctx, uint32_t *buf)
+{
+	if (ejtag_info->mode == 0)
+		return mips32_pracc_exec(ejtag_info, ctx->code_count, ctx->pracc_list, 0, NULL,
+				  ctx->store_count, buf, ctx->code_count - 1);
+
+	union scan_in {
+		uint8_t scan_96[12];
+		struct {
+			uint8_t ctrl[4];
+			uint8_t data[4];
+			uint8_t addr[4];
+		} scan_32;
+
+	} *scan_in = malloc(sizeof(union scan_in) * (ctx->code_count + ctx->store_count));
+	if (scan_in == NULL) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	unsigned num_clocks =
+		((uint64_t)(ejtag_info->scan_delay) * jtag_get_speed_khz() + 500000) / 1000000;
+
+	uint32_t ejtag_ctrl = ejtag_info->ejtag_ctrl & ~EJTAG_CTRL_PRACC;
+	mips_ejtag_set_instr(ejtag_info, EJTAG_INST_ALL);
+
+	int scan_count = 0;
+	for (int i = 0; i != 2 * ctx->code_count; i++) {
+		uint32_t data = 0;
+		if (i & 1u) {			/* Check store address from previous instruction, if not the first */
+			if (i < 2 || 0 == ctx->pracc_list[ctx->max_code + (i / 2) - 1])
+				continue;
+		} else
+			data = ctx->pracc_list[i / 2];
+
+		jtag_add_clocks(num_clocks);
+		mips_ejtag_add_scan_96(ejtag_info, ejtag_ctrl, data, scan_in[scan_count++].scan_96);
+	}
+
+	int retval = jtag_execute_queue();		/* execute queued scans */
+	if (retval != ERROR_OK)
+		goto exit;
+
+	uint32_t fetch_addr = MIPS32_PRACC_TEXT;		/* start address */
+	scan_count = 0;
+	for (int i = 0; i != 2 * ctx->code_count; i++) {				/* verify every pracc access */
+		uint32_t store_addr = 0;
+		if (i & 1u) {			/* Read store addres from previous instruction, if not the first */
+			store_addr = ctx->pracc_list[ctx->max_code + (i / 2) - 1];
+			if (i < 2 || 0 == store_addr)
+				continue;
+		}
+
+		ejtag_ctrl = buf_get_u32(scan_in[scan_count].scan_32.ctrl, 0, 32);
+		if (!(ejtag_ctrl & EJTAG_CTRL_PRACC)) {
+			LOG_ERROR("Error: access not pending  count: %d", scan_count);
+			retval = ERROR_FAIL;
+			goto exit;
+		}
+
+		uint32_t addr = buf_get_u32(scan_in[scan_count].scan_32.addr, 0, 32);
+
+		if (store_addr != 0) {
+			if (!(ejtag_ctrl & EJTAG_CTRL_PRNW)) {
+				LOG_ERROR("Not a store/write access, count: %d", scan_count);
+				retval = ERROR_FAIL;
+				goto exit;
+			}
+			if (addr != store_addr) {
+				LOG_ERROR("Store address mismatch, read: %" PRIx32 " expected: %" PRIx32 " count: %d",
+						addr, store_addr, scan_count);
+				retval = ERROR_FAIL;
+				goto exit;
+			}
+			int buf_index = (addr - MIPS32_PRACC_PARAM_OUT) / 4;
+			buf[buf_index] = buf_get_u32(scan_in[scan_count].scan_32.data, 0, 32);
+
+		} else {
+			if (ejtag_ctrl & EJTAG_CTRL_PRNW) {
+				LOG_ERROR("Not a fetch/read access, count: %d", scan_count);
+				retval = ERROR_FAIL;
+				goto exit;
+			}
+			if (addr != fetch_addr) {
+				LOG_ERROR("Fetch addr mismatch, read: %" PRIx32 " expected: %" PRIx32 " count: %d",
+					  addr, fetch_addr, scan_count);
+				retval = ERROR_FAIL;
+				goto exit;
+			}
+			fetch_addr += 4;
+		}
+		scan_count++;
+	}
+exit:
+	free(scan_in);
+	return retval;
+}
 
-	return mips32_pracc_exec(ejtag_info, ARRAY_SIZE(code), code, 0, NULL, 1, buf, 1);
+int mips32_pracc_read_u32(struct mips_ejtag *ejtag_info, uint32_t addr, uint32_t *buf)
+{
+	struct pracc_queue_info ctx = {.max_code = 9};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
+
+	pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* move $15 to COP0 DeSave */
+	pracc_add(&ctx, 0, MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR));			/* $15 = MIPS32_PRACC_BASE_ADDR */
+	pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16((addr + 0x8000))));		/* load  $8 with modified upper address */
+	pracc_add(&ctx, 0, MIPS32_LW(8, LOWER16(addr), 8));				/* lw $8, LOWER16(addr)($8) */
+	pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT,
+				MIPS32_SW(8, PRACC_OUT_OFFSET, 15));			/* sw $8,PRACC_OUT_OFFSET($15) */
+	pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(ejtag_info->reg8)));		/* restore upper 16 of $8 */
+	pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(ejtag_info->reg8)));		/* restore lower 16 of $8 */
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));					/* move COP0 DeSave to $15 */
+
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, buf);
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 }
 
 int mips32_pracc_read_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size, int count, void *buf)
@@ -299,16 +431,11 @@ int mips32_pracc_read_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size
 	if (count == 1 && size == 4)
 		return mips32_pracc_read_u32(ejtag_info, addr, (uint32_t *)buf);
 
-	int retval = ERROR_FAIL;
-
-	uint32_t *code = NULL;
 	uint32_t *data = NULL;
-
-	code = malloc((256 * 2 + 10) * sizeof(uint32_t));
-	if (code == NULL) {
-		LOG_ERROR("Out of memory");
+	struct pracc_queue_info ctx = {.max_code = 256 * 3 + 9 + 1};	/* alloc memory for the worst case */
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
 		goto exit;
-	}
 
 	if (size != 4) {
 		data = malloc(256 * sizeof(uint32_t));
@@ -322,62 +449,54 @@ int mips32_pracc_read_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size
 	uint16_t *buf16 = buf;
 	uint8_t *buf8 = buf;
 
-	int i;
-	uint32_t upper_base_addr, last_upper_base_addr;
-	int this_round_count;
-	int code_len;
-
 	while (count) {
-		this_round_count = (count > 256) ? 256 : count;
-		last_upper_base_addr = UPPER16((addr + 0x8000));
-		uint32_t *code_p = code;
-
-		*code_p++ = MIPS32_MTC0(15, 31, 0);					/* save $15 in DeSave */
-		*code_p++ = MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR);			/* $15 = MIPS32_PRACC_BASE_ADDR */
-		*code_p++ = MIPS32_SW(8, PRACC_STACK_OFFSET, 15);			/* save $8 and $9 to pracc stack */
-		*code_p++ = MIPS32_SW(9, PRACC_STACK_OFFSET, 15);
-		*code_p++ = MIPS32_LUI(9, last_upper_base_addr);			/* load the upper memory address in $9*/
-		code_len = 5;
-
-		for (i = 0; i != this_round_count; i++) {		/* Main code loop */
-			upper_base_addr = UPPER16((addr + 0x8000));
-			if (last_upper_base_addr != upper_base_addr) {
-				*code_p++ = MIPS32_LUI(9, upper_base_addr);		/* if needed, change upper address in $9*/
-				code_len++;
+		ctx.code_count = 0;
+		ctx.store_count = 0;
+		int this_round_count = (count > 256) ? 256 : count;
+		uint32_t last_upper_base_addr = UPPER16((addr + 0x8000));
+
+		pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* save $15 in DeSave */
+		pracc_add(&ctx, 0, MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR));			/* $15 = MIPS32_PRACC_BASE_ADDR */
+		pracc_add(&ctx, 0, MIPS32_LUI(9, last_upper_base_addr));		/* load the upper memory address in $9 */
+
+		for (int i = 0; i != this_round_count; i++) {			/* Main code loop */
+			uint32_t upper_base_addr = UPPER16((addr + 0x8000));
+			if (last_upper_base_addr != upper_base_addr) {			/* if needed, change upper address in $9 */
+				pracc_add(&ctx, 0, MIPS32_LUI(9, upper_base_addr));
 				last_upper_base_addr = upper_base_addr;
 			}
 
 			if (size == 4)
-				*code_p++ = MIPS32_LW(8, LOWER16(addr), 9);		/* load from memory to $8 */
+				pracc_add(&ctx, 0, MIPS32_LW(8, LOWER16(addr), 9));		/* load from memory to $8 */
 			else if (size == 2)
-				*code_p++ = MIPS32_LHU(8, LOWER16(addr), 9);
+				pracc_add(&ctx, 0, MIPS32_LHU(8, LOWER16(addr), 9));
 			else
-				*code_p++ = MIPS32_LBU(8, LOWER16(addr), 9);
-
-			*code_p++ = MIPS32_SW(8, PRACC_OUT_OFFSET + i * 4, 15);		/* store $8 at param out */
+				pracc_add(&ctx, 0, MIPS32_LBU(8, LOWER16(addr), 9));
 
-			code_len += 2;
+			pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + i * 4,
+					  MIPS32_SW(8, PRACC_OUT_OFFSET + i * 4, 15));		/* store $8 at param out */
 			addr += size;
 		}
+		pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(ejtag_info->reg8)));		/* restore upper 16 bits of reg 8 */
+		pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(ejtag_info->reg8)));	/* restore lower 16 bits of reg 8 */
+		pracc_add(&ctx, 0, MIPS32_LUI(9, UPPER16(ejtag_info->reg9)));		/* restore upper 16 bits of reg 9 */
+		pracc_add(&ctx, 0, MIPS32_ORI(9, 9, LOWER16(ejtag_info->reg9)));	/* restore lower 16 bits of reg 9 */
 
-		*code_p++ = MIPS32_LW(9, PRACC_STACK_OFFSET, 15);			/* restore $8 and $9 from pracc stack */
-		*code_p++ = MIPS32_LW(8, PRACC_STACK_OFFSET, 15);
-
-		code_len += 4;
-		*code_p++ = MIPS32_B(NEG16(code_len - 1));					/* jump to start */
-		*code_p = MIPS32_MFC0(15, 31, 0);					/* restore $15 from DeSave */
+		pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));				/* jump to start */
+		pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));					/* restore $15 from DeSave */
 
 		if (size == 4) {
-			retval = mips32_pracc_exec(ejtag_info, code_len, code, 0, NULL, this_round_count, buf32, 1);
-			if (retval != ERROR_OK)
+			ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, buf32);
+			if (ctx.retval != ERROR_OK)
 				goto exit;
 			buf32 += this_round_count;
 		} else {
-			retval = mips32_pracc_exec(ejtag_info, code_len, code, 0, NULL, this_round_count, data, 1);
-			if (retval != ERROR_OK)
+			ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, data);
+			if (ctx.retval != ERROR_OK)
 				goto exit;
+
 			uint32_t *data_p = data;
-			for (i = 0; i != this_round_count; i++) {
+			for (int i = 0; i != this_round_count; i++) {
 				if (size == 2)
 					*buf16++ = *data_p++;
 				else
@@ -386,34 +505,34 @@ int mips32_pracc_read_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size
 		}
 		count -= this_round_count;
 	}
-
 exit:
-	if (code)
-		free(code);
-	if (data)
+	pracc_queue_free(&ctx);
+	if (data != NULL)
 		free(data);
-	return retval;
+	return ctx.retval;
 }
 
 int mips32_cp0_read(struct mips_ejtag *ejtag_info, uint32_t *val, uint32_t cp0_reg, uint32_t cp0_sel)
 {
-	/**
-	 * Do not make this code static, but regenerate it every time,
-	 * as 3th element has to be changed to add parameters
-	 */
-	uint32_t code[] = {
-														/* start: */
-		MIPS32_MTC0(15, 31, 0),							/* move $15 to COP0 DeSave */
-		MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR),					/* $15 = MIPS32_PRACC_BASE_ADDR */
-		MIPS32_SW(8, PRACC_STACK_OFFSET, 15),					/* sw $8,PRACC_STACK_OFFSET($15) */
-
-		/* 3 */ MIPS32_MFC0(8, 0, 0),						/* move COP0 [cp0_reg select] to $8 */
-		MIPS32_SW(8, PRACC_OUT_OFFSET, 15),					/* sw $8,PRACC_OUT_OFFSET($15) */
-
-		MIPS32_LW(8, PRACC_STACK_OFFSET, 15),					/* lw $8,PRACC_STACK_OFFSET($15) */
-		MIPS32_B(NEG16(7)),							/* b start */
-		MIPS32_MFC0(15, 31, 0),							/* move COP0 DeSave to $15 */
-	};
+	struct pracc_queue_info ctx = {.max_code = 8};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
+
+	pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* move $15 to COP0 DeSave */
+	pracc_add(&ctx, 0, MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR));			/* $15 = MIPS32_PRACC_BASE_ADDR */
+	pracc_add(&ctx, 0, MIPS32_MFC0(8, 0, 0) | (cp0_reg << 11) | cp0_sel);	/* move COP0 [cp0_reg select] to $8 */
+	pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT,
+				MIPS32_SW(8, PRACC_OUT_OFFSET, 15));			/* store $8 to pracc_out */
+	pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));					/* move COP0 DeSave to $15 */
+	pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(ejtag_info->reg8)));		/* restore upper 16 bits  of $8 */
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(ejtag_info->reg8)));		/* restore lower 16 bits of $8 */
+
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, val);
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 
 	/**
 	 * Note that our input parametes cp0_reg and cp0_sel
@@ -428,33 +547,37 @@ int mips32_cp0_read(struct mips_ejtag *ejtag_info, uint32_t *val, uint32_t cp0_r
 	 *
 	 * MIPS32_MTC0 is implemented via MIPS32_R_INST macro.
 	 * In order to insert our parameters, we must change rd and funct fields.
-	 */
-	code[3] |= (cp0_reg << 11) | cp0_sel;  /* change rd and funct of MIPS32_R_INST macro */
-
-	return mips32_pracc_exec(ejtag_info, ARRAY_SIZE(code), code, 0, NULL, 1, val, 1);
+	 *
+	 * code[2] |= (cp0_reg << 11) | cp0_sel;   change rd and funct of MIPS32_R_INST macro
+	 **/
 }
 
 int mips32_cp0_write(struct mips_ejtag *ejtag_info, uint32_t val, uint32_t cp0_reg, uint32_t cp0_sel)
 {
-	uint32_t code[] = {
-															/* start: */
-		MIPS32_MTC0(15, 31, 0),							/* move $15 to COP0 DeSave */
-		MIPS32_LUI(15, UPPER16(val)),						/* Load val to $15 */
-		MIPS32_ORI(15, 15, LOWER16(val)),
+	struct pracc_queue_info ctx = {.max_code = 6};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
 
-		/* 3 */ MIPS32_MTC0(15, 0, 0),						/* move $15 to COP0 [cp0_reg select] */
+	pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* move $15 to COP0 DeSave */
+	pracc_add(&ctx, 0, MIPS32_LUI(15, UPPER16(val)));				/* Load val to $15 */
+	pracc_add(&ctx, 0, MIPS32_ORI(15, 15, LOWER16(val)));
 
-		MIPS32_B(NEG16(5)),							/* b start */
-		MIPS32_MFC0(15, 31, 0),							/* move COP0 DeSave to $15 */
-	};
+	pracc_add(&ctx, 0, MIPS32_MTC0(15, 0, 0) | (cp0_reg << 11) | cp0_sel);	/* write cp0 reg / sel */
+
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));					/* move COP0 DeSave to $15 */
+
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 
 	/**
 	 * Note that MIPS32_MTC0 macro is implemented via MIPS32_R_INST macro.
 	 * In order to insert our parameters, we must change rd and funct fields.
-	 */
-	code[3] |= (cp0_reg << 11) | cp0_sel;  /* change rd and funct fields of MIPS32_R_INST macro */
-
-	return mips32_pracc_exec(ejtag_info, ARRAY_SIZE(code), code, 0, NULL, 0, NULL, 1);
+	 * code[3] |= (cp0_reg << 11) | cp0_sel;   change rd and funct fields of MIPS32_R_INST macro
+	 **/
 }
 
 /**
@@ -607,97 +730,76 @@ static int mips32_pracc_clean_invalidate_cache(struct mips_ejtag *ejtag_info,
 	return retval;
 }
 
-static int mips32_pracc_write_mem_generic(struct mips_ejtag *ejtag_info, uint32_t addr, int size, int count, void *buf)
+static int mips32_pracc_write_mem_generic(struct mips_ejtag *ejtag_info,
+		uint32_t addr, int size, int count, const void *buf)
 {
-	uint32_t *code;
-	code = malloc((128 * 3 + 9) * sizeof(uint32_t));	/* alloc memory for the worst case */
-	if (code == NULL) {
-		LOG_ERROR("Out of memory");
-		return ERROR_FAIL;
-	}
-
-	uint32_t *buf32 = buf;
-	uint16_t *buf16 = buf;
-	uint8_t *buf8 = buf;
+	struct pracc_queue_info ctx = {.max_code = 128 * 3 + 6 + 1};	/* alloc memory for the worst case */
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
 
-	int i;
-	int retval = ERROR_FAIL;
-	uint32_t *code_p;
-	uint32_t upper_base_addr, last_upper_base_addr;
-	int this_round_count;
-	int code_len;
+	const uint32_t *buf32 = buf;
+	const uint16_t *buf16 = buf;
+	const uint8_t *buf8 = buf;
 
 	while (count) {
-		this_round_count = (count > 128) ? 128 : count;
-		last_upper_base_addr = UPPER16((addr + 0x8000));
-		code_p = code;
-
-		*code_p++ = MIPS32_MTC0(15, 31, 0);					/* save $15 in DeSave */
-		*code_p++ = MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR);			/* $15 = MIPS32_PRACC_BASE_ADDR */
-		*code_p++ = MIPS32_SW(8, PRACC_STACK_OFFSET, 15);			/* save $8 to pracc stack */
-		*code_p++ = MIPS32_LUI(15, last_upper_base_addr);			/* reuse $15 as memory base address */
-		code_len = 4;
-
-		for (i = 0; i != this_round_count; i++) {
-			upper_base_addr = UPPER16((addr + 0x8000));
+		ctx.code_count = 0;
+		ctx.store_count = 0;
+		int this_round_count = (count > 128) ? 128 : count;
+		uint32_t last_upper_base_addr = UPPER16((addr + 0x8000));
+
+		pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));				/* save $15 in DeSave */
+		pracc_add(&ctx, 0, MIPS32_LUI(15, last_upper_base_addr));		/* load $15 with memory base address */
+
+		for (int i = 0; i != this_round_count; i++) {
+			uint32_t upper_base_addr = UPPER16((addr + 0x8000));
 			if (last_upper_base_addr != upper_base_addr) {
-				*code_p++ = MIPS32_LUI(15, upper_base_addr);		/* if needed, change upper address in $15*/
-				code_len++;
+				pracc_add(&ctx, 0, MIPS32_LUI(15, upper_base_addr));	/* if needed, change upper address in $15*/
 				last_upper_base_addr = upper_base_addr;
 			}
 
-			if (size == 4) {	/* for word write check if one half word is 0 and load it accordingly */
-				if (LOWER16(*buf32) == 0) {
-					*code_p++ = MIPS32_LUI(8, UPPER16(*buf32));		/* load only upper value */
-					code_len++;
-				} else if (UPPER16(*buf32) == 0) {
-					*code_p++ = MIPS32_ORI(8, 0, LOWER16(*buf32));		/* load only lower value */
-					code_len++;
-				} else {
-					*code_p++ = MIPS32_LUI(8, UPPER16(*buf32));		/* load upper and lower */
-					*code_p++ = MIPS32_ORI(8, 8, LOWER16(*buf32));
-					code_len += 2;
+			if (size == 4) {			/* for word writes check if one half word is 0 and load it accordingly */
+				if (LOWER16(*buf32) == 0)
+					pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(*buf32)));		/* load only upper value */
+				else if (UPPER16(*buf32) == 0)
+						pracc_add(&ctx, 0, MIPS32_ORI(8, 0, LOWER16(*buf32)));	/* load only lower */
+				else {
+					pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(*buf32)));		/* load upper and lower */
+					pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(*buf32)));
 				}
-				*code_p++ = MIPS32_SW(8, LOWER16(addr), 15);			/* store word to memory */
-				code_len++;
+				pracc_add(&ctx, 0, MIPS32_SW(8, LOWER16(addr), 15));		/* store word to memory */
 				buf32++;
 
 			} else if (size == 2) {
-				*code_p++ = MIPS32_ORI(8, 0, *buf16);				/* load lower value */
-				*code_p++ = MIPS32_SH(8, LOWER16(addr), 15);		/* store half word to memory */
-				code_len += 2;
+				pracc_add(&ctx, 0, MIPS32_ORI(8, 0, *buf16));		/* load lower value */
+				pracc_add(&ctx, 0, MIPS32_SH(8, LOWER16(addr), 15));	/* store half word to memory */
 				buf16++;
 
 			} else {
-				*code_p++ = MIPS32_ORI(8, 0, *buf8);				/* load lower value */
-				*code_p++ = MIPS32_SB(8, LOWER16(addr), 15);			/* store byte to memory */
-				code_len += 2;
+				pracc_add(&ctx, 0, MIPS32_ORI(8, 0, *buf8));		/* load lower value */
+				pracc_add(&ctx, 0, MIPS32_SB(8, LOWER16(addr), 15));	/* store byte to memory */
 				buf8++;
 			}
-
 			addr += size;
 		}
 
-		*code_p++ = MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR);			/* $15 = MIPS32_PRACC_BASE_ADDR */
-		*code_p++ = MIPS32_LW(8, PRACC_STACK_OFFSET, 15);			/* restore $8 from pracc stack */
+		pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(ejtag_info->reg8)));		/* restore upper 16 bits of reg 8 */
+		pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(ejtag_info->reg8)));	/* restore lower 16 bits of reg 8 */
 
-		code_len += 4;
-		*code_p++ = MIPS32_B(NEG16(code_len - 1));					/* jump to start */
-		*code_p = MIPS32_MFC0(15, 31, 0);					/* restore $15 from DeSave */
+		pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));				/* jump to start */
+		pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));				/* restore $15 from DeSave */
 
-		retval = mips32_pracc_exec(ejtag_info, code_len, code, 0, NULL, 0, NULL, 1);
-		if (retval != ERROR_OK)
+		ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
+		if (ctx.retval != ERROR_OK)
 			goto exit;
-
 		count -= this_round_count;
 	}
-
 exit:
-	free(code);
-	return retval;
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 }
 
-int mips32_pracc_write_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size, int count, void *buf)
+int mips32_pracc_write_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size, int count, const void *buf)
 {
 	int retval = mips32_pracc_write_mem_generic(ejtag_info, addr, size, count, buf);
 	if (retval != ERROR_OK)
@@ -776,120 +878,87 @@ int mips32_pracc_write_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
 		MIPS32_MTC0(1, 24, 0),							/* move $1 to depc (pc) */
 	};
 
-	uint32_t *code;
-	code = malloc((37 * 2 + 6 + 1) * sizeof(uint32_t));	/* alloc memory for the worst case */
-	if (code == NULL) {
-		LOG_ERROR("Out of memory");
-		return ERROR_FAIL;
-	}
+	struct pracc_queue_info ctx = {.max_code = 37 * 2 + 6 + 1};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
 
-	uint32_t *code_p = code;
-	int code_len = 0;
-	/* load registers 2 to 31 with lui an ori instructions, check if same instructions can be saved */
+	/* load registers 2 to 31 with lui and ori instructions, check if some instructions can be saved */
 	for (int i = 2; i < 32; i++) {
-		if (LOWER16((regs[i])) == 0) {
-			*code_p++ = MIPS32_LUI(i, UPPER16((regs[i])));		/* if lower half word is 0, lui instruction only */
-			code_len++;
-		} else if (UPPER16((regs[i])) == 0) {
-			*code_p++ = MIPS32_ORI(i, 0, LOWER16((regs[i])));	/* if upper half word is 0, ori with $0 only*/
-			code_len++;
-		} else {
-			*code_p++ = MIPS32_LUI(i, UPPER16((regs[i])));		/* default, load with lui and ori instructions */
-			*code_p++ = MIPS32_ORI(i, i, LOWER16((regs[i])));
-			code_len += 2;
+		if (LOWER16((regs[i])) == 0)					/* if lower half word is 0, lui instruction only */
+			pracc_add(&ctx, 0, MIPS32_LUI(i, UPPER16((regs[i]))));
+		else if (UPPER16((regs[i])) == 0)					/* if upper half word is 0, ori with $0 only*/
+			pracc_add(&ctx, 0, MIPS32_ORI(i, 0, LOWER16((regs[i]))));
+		else {									/* default, load with lui and ori instructions */
+			pracc_add(&ctx, 0, MIPS32_LUI(i, UPPER16((regs[i]))));
+			pracc_add(&ctx, 0, MIPS32_ORI(i, i, LOWER16((regs[i]))));
 		}
 	}
 
 	for (int i = 0; i != 6; i++) {
-		*code_p++ = MIPS32_LUI(1, UPPER16((regs[i + 32])));		/* load CPO value in $1, with lui and ori */
-		*code_p++ = MIPS32_ORI(1, 1, LOWER16((regs[i + 32])));
-		*code_p++ = cp0_write_code[i];					/* write value from $1 to CPO register */
-		code_len += 3;
+		pracc_add(&ctx, 0, MIPS32_LUI(1, UPPER16((regs[i + 32]))));		/* load CPO value in $1, with lui and ori */
+		pracc_add(&ctx, 0, MIPS32_ORI(1, 1, LOWER16((regs[i + 32]))));
+		pracc_add(&ctx, 0, cp0_write_code[i]);					/* write value from $1 to CPO register */
 	}
 
-	*code_p++ = MIPS32_LUI(1, UPPER16((regs[1])));				/* load upper half word in $1 */
-	code_len += 3;
-	*code_p++ = MIPS32_B(NEG16(code_len - 1)),							/* b start */
-	*code_p = MIPS32_ORI(1, 1, LOWER16((regs[1])));				/* load lower half word in $1 */
+	pracc_add(&ctx, 0, MIPS32_LUI(1, UPPER16((regs[1]))));			/* load upper half word in $1 */
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_ORI(1, 1, LOWER16((regs[1]))));		/* load lower half word in $1 */
 
-	int retval = mips32_pracc_exec(ejtag_info, code_len, code, 0, NULL, 0, NULL, 1);
-	free(code);
-	return retval;
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
+
+	ejtag_info->reg8 = regs[8];
+	ejtag_info->reg9 = regs[9];
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 }
 
 int mips32_pracc_read_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
 {
-	static const uint32_t code[] = {
-														/* start: */
-		MIPS32_MTC0(2, 31, 0),							/* move $2 to COP0 DeSave */
-		MIPS32_LUI(2, UPPER16(MIPS32_PRACC_PARAM_OUT)),	/* $2 = MIPS32_PRACC_PARAM_OUT */
-		MIPS32_ORI(2, 2, LOWER16(MIPS32_PRACC_PARAM_OUT)),
-		MIPS32_SW(0, 0*4, 2),							/* sw $0,0*4($2) */
-		MIPS32_SW(1, 1*4, 2),							/* sw $1,1*4($2) */
-		MIPS32_SW(15, 15*4, 2),							/* sw $15,15*4($2) */
-		MIPS32_MFC0(2, 31, 0),							/* move COP0 DeSave to $2 */
-		MIPS32_MTC0(15, 31, 0),							/* move $15 to COP0 DeSave */
-		MIPS32_LUI(15, UPPER16(MIPS32_PRACC_STACK)),	/* $15 = MIPS32_PRACC_STACK */
-		MIPS32_ORI(15, 15, LOWER16(MIPS32_PRACC_STACK)),
-		MIPS32_SW(1, 0, 15),							/* sw $1,($15) */
-		MIPS32_SW(2, 0, 15),							/* sw $2,($15) */
-		MIPS32_LUI(1, UPPER16(MIPS32_PRACC_PARAM_OUT)),	/* $1 = MIPS32_PRACC_PARAM_OUT */
-		MIPS32_ORI(1, 1, LOWER16(MIPS32_PRACC_PARAM_OUT)),
-		MIPS32_SW(2, 2*4, 1),							/* sw $2,2*4($1) */
-		MIPS32_SW(3, 3*4, 1),							/* sw $3,3*4($1) */
-		MIPS32_SW(4, 4*4, 1),							/* sw $4,4*4($1) */
-		MIPS32_SW(5, 5*4, 1),							/* sw $5,5*4($1) */
-		MIPS32_SW(6, 6*4, 1),							/* sw $6,6*4($1) */
-		MIPS32_SW(7, 7*4, 1),							/* sw $7,7*4($1) */
-		MIPS32_SW(8, 8*4, 1),							/* sw $8,8*4($1) */
-		MIPS32_SW(9, 9*4, 1),							/* sw $9,9*4($1) */
-		MIPS32_SW(10, 10*4, 1),							/* sw $10,10*4($1) */
-		MIPS32_SW(11, 11*4, 1),							/* sw $11,11*4($1) */
-		MIPS32_SW(12, 12*4, 1),							/* sw $12,12*4($1) */
-		MIPS32_SW(13, 13*4, 1),							/* sw $13,13*4($1) */
-		MIPS32_SW(14, 14*4, 1),							/* sw $14,14*4($1) */
-		MIPS32_SW(16, 16*4, 1),							/* sw $16,16*4($1) */
-		MIPS32_SW(17, 17*4, 1),							/* sw $17,17*4($1) */
-		MIPS32_SW(18, 18*4, 1),							/* sw $18,18*4($1) */
-		MIPS32_SW(19, 19*4, 1),							/* sw $19,19*4($1) */
-		MIPS32_SW(20, 20*4, 1),							/* sw $20,20*4($1) */
-		MIPS32_SW(21, 21*4, 1),							/* sw $21,21*4($1) */
-		MIPS32_SW(22, 22*4, 1),							/* sw $22,22*4($1) */
-		MIPS32_SW(23, 23*4, 1),							/* sw $23,23*4($1) */
-		MIPS32_SW(24, 24*4, 1),							/* sw $24,24*4($1) */
-		MIPS32_SW(25, 25*4, 1),							/* sw $25,25*4($1) */
-		MIPS32_SW(26, 26*4, 1),							/* sw $26,26*4($1) */
-		MIPS32_SW(27, 27*4, 1),							/* sw $27,27*4($1) */
-		MIPS32_SW(28, 28*4, 1),							/* sw $28,28*4($1) */
-		MIPS32_SW(29, 29*4, 1),							/* sw $29,29*4($1) */
-		MIPS32_SW(30, 30*4, 1),							/* sw $30,30*4($1) */
-		MIPS32_SW(31, 31*4, 1),							/* sw $31,31*4($1) */
-
-		MIPS32_MFC0(2, 12, 0),							/* move status to $2 */
-		MIPS32_SW(2, 32*4, 1),							/* sw $2,32*4($1) */
-		MIPS32_MFLO(2),									/* move lo to $2 */
-		MIPS32_SW(2, 33*4, 1),							/* sw $2,33*4($1) */
-		MIPS32_MFHI(2),									/* move hi to $2 */
-		MIPS32_SW(2, 34*4, 1),							/* sw $2,34*4($1) */
-		MIPS32_MFC0(2, 8, 0),							/* move badvaddr to $2 */
-		MIPS32_SW(2, 35*4, 1),							/* sw $2,35*4($1) */
-		MIPS32_MFC0(2, 13, 0),							/* move cause to $2 */
-		MIPS32_SW(2, 36*4, 1),							/* sw $2,36*4($1) */
-		MIPS32_MFC0(2, 24, 0),							/* move depc (pc) to $2 */
-		MIPS32_SW(2, 37*4, 1),							/* sw $2,37*4($1) */
-
-		MIPS32_LW(2, 0, 15),							/* lw $2,($15) */
-		MIPS32_LW(1, 0, 15),							/* lw $1,($15) */
-		MIPS32_B(NEG16(58)),							/* b start */
-		MIPS32_MFC0(15, 31, 0),							/* move COP0 DeSave to $15 */
+	static int cp0_read_code[] = {
+		MIPS32_MFC0(8, 12, 0),							/* move status to $8 */
+		MIPS32_MFLO(8),									/* move lo to $8 */
+		MIPS32_MFHI(8),									/* move hi to $8 */
+		MIPS32_MFC0(8, 8, 0),							/* move badvaddr to $8 */
+		MIPS32_MFC0(8, 13, 0),							/* move cause to $8 */
+		MIPS32_MFC0(8, 24, 0),							/* move depc (pc) to $8 */
 	};
 
-	int retval;
+	struct pracc_queue_info ctx = {.max_code = 48};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
 
-	retval = mips32_pracc_exec(ejtag_info, ARRAY_SIZE(code), code,
-		0, NULL, MIPS32NUMCOREREGS, regs, 1);
+	pracc_add(&ctx, 0, MIPS32_MTC0(1, 31, 0));						/* move $1 to COP0 DeSave */
+	pracc_add(&ctx, 0, MIPS32_LUI(1, PRACC_UPPER_BASE_ADDR));				/* $1 = MIP32_PRACC_BASE_ADDR */
 
-	return retval;
+	for (int i = 2; i != 32; i++)					/* store GPR's 2 to 31 */
+		pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + (i * 4),
+				  MIPS32_SW(i, PRACC_OUT_OFFSET + (i * 4), 1));
+
+	for (int i = 0; i != 6; i++) {
+		pracc_add(&ctx, 0, cp0_read_code[i]);				/* load COP0 needed registers to $8 */
+		pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + (i + 32) * 4,			/* store $8 at PARAM OUT */
+				  MIPS32_SW(8, PRACC_OUT_OFFSET + (i + 32) * 4, 1));
+	}
+	pracc_add(&ctx, 0, MIPS32_MFC0(8, 31, 0));					/* move DeSave to $8, reg1 value */
+	pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + 4,					/* store reg1 value from $8 to param out */
+			  MIPS32_SW(8, PRACC_OUT_OFFSET + 4, 1));
+
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_MFC0(1, 31, 0));					/* move COP0 DeSave to $1, restore reg1 */
+
+	if (ejtag_info->mode == 0)
+		ctx.store_count++;	/* Needed by legacy code, due to offset from reg0 */
+
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, regs);
+
+	ejtag_info->reg8 = regs[8];	/* reg8 is saved but not restored, next called function should restore it */
+	ejtag_info->reg9 = regs[9];
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 }
 
 /* fastdata upload/download requires an initialized working area
@@ -979,6 +1048,7 @@ int mips32_pracc_fastdata_xfer(struct mips_ejtag *ejtag_info, struct working_are
 		mips_ejtag_drscan_32_out(ejtag_info, ejtag_ctrl);
 	}
 
+	/* wait PrAcc pending bit for FASTDATA write */
 	retval = wait_for_pracc_rw(ejtag_info, &ejtag_ctrl);
 	if (retval != ERROR_OK)
 		return retval;
@@ -993,21 +1063,26 @@ int mips32_pracc_fastdata_xfer(struct mips_ejtag *ejtag_info, struct working_are
 	if (address != MIPS32_PRACC_FASTDATA_AREA)
 		return ERROR_FAIL;
 
-	/* wait PrAcc pending bit for FASTDATA write */
-	retval = wait_for_pracc_rw(ejtag_info, &ejtag_ctrl);
-	if (retval != ERROR_OK)
-		return retval;
-
 	/* Send the load start address */
 	val = addr;
 	mips_ejtag_set_instr(ejtag_info, EJTAG_INST_FASTDATA);
 	mips_ejtag_fastdata_scan(ejtag_info, 1, &val);
 
+	retval = wait_for_pracc_rw(ejtag_info, &ejtag_ctrl);
+	if (retval != ERROR_OK)
+		return retval;
+
 	/* Send the load end address */
 	val = addr + (count - 1) * 4;
+	mips_ejtag_set_instr(ejtag_info, EJTAG_INST_FASTDATA);
 	mips_ejtag_fastdata_scan(ejtag_info, 1, &val);
 
+	unsigned num_clocks = 0;	/* like in legacy code */
+	if (ejtag_info->mode != 0)
+		num_clocks = ((uint64_t)(ejtag_info->scan_delay) * jtag_get_speed_khz() + 500000) / 1000000;
+
 	for (i = 0; i < count; i++) {
+		jtag_add_clocks(num_clocks);
 		retval = mips_ejtag_fastdata_scan(ejtag_info, write_t, buf++);
 		if (retval != ERROR_OK)
 			return retval;