target: add function to get number of bytes available in working area
[openocd.git] / src / target / target.c
index f3d63fccc3443d8e9795585be258e525a9a9cfc7..5b37ef03bc22b2ffabdcecae1bc6b90c1059a72c 100644 (file)
  *   Copyright (C) 2008 by Rick Altherr                                    *
  *   kc8apf@kc8apf.net>                                                    *
  *                                                                         *
+ *   Copyright (C) 2011 by Broadcom Corporation                            *
+ *   Evan Hunter - ehunter@broadcom.com                                    *
+ *                                                                         *
+ *   Copyright (C) ST-Ericsson SA 2011                                     *
+ *   michel.jaouen@stericsson.com : smp minimum support                    *
+ *                                                                         *
+ *   Copyright (C) 2011 Andreas Fritiofson                                 *
+ *   andreas.fritiofson@gmail.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     *
@@ -29,6 +38,7 @@
  *   Free Software Foundation, Inc.,                                       *
  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  ***************************************************************************/
+
 #ifdef HAVE_CONFIG_H
 #include "config.h"
 #endif
 #include "register.h"
 #include "trace.h"
 #include "image.h"
+#include "rtos/rtos.h"
 
-
+static int target_read_buffer_default(struct target *target, uint32_t address,
+               uint32_t size, uint8_t *buffer);
+static int target_write_buffer_default(struct target *target, uint32_t address,
+               uint32_t size, const uint8_t *buffer);
 static int target_array2mem(Jim_Interp *interp, struct target *target,
-               int argc, Jim_Obj *const *argv);
+               int argc, Jim_Obj * const *argv);
 static int target_mem2array(Jim_Interp *interp, struct target *target,
-               int argc, Jim_Obj *const *argv);
+               int argc, Jim_Obj * const *argv);
+static int target_register_user_commands(struct command_context *cmd_ctx);
 
 /* targets */
 extern struct target_type arm7tdmi_target;
@@ -57,6 +72,7 @@ extern struct target_type arm720t_target;
 extern struct target_type arm9tdmi_target;
 extern struct target_type arm920t_target;
 extern struct target_type arm966e_target;
+extern struct target_type arm946e_target;
 extern struct target_type arm926ejs_target;
 extern struct target_type fa526_target;
 extern struct target_type feroceon_target;
@@ -68,15 +84,18 @@ extern struct target_type arm11_target;
 extern struct target_type mips_m4k_target;
 extern struct target_type avr_target;
 extern struct target_type dsp563xx_target;
+extern struct target_type dsp5680xx_target;
 extern struct target_type testee_target;
+extern struct target_type avr32_ap7k_target;
+extern struct target_type stm32_stlink_target;
 
-struct target_type *target_types[] =
-{
+static struct target_type *target_types[] = {
        &arm7tdmi_target,
        &arm9tdmi_target,
        &arm920t_target,
        &arm720t_target,
        &arm966e_target,
+       &arm946e_target,
        &arm926ejs_target,
        &fa526_target,
        &feroceon_target,
@@ -88,13 +107,17 @@ struct target_type *target_types[] =
        &mips_m4k_target,
        &avr_target,
        &dsp563xx_target,
+       &dsp5680xx_target,
        &testee_target,
+       &avr32_ap7k_target,
+       &stm32_stlink_target,
        NULL,
 };
 
-struct target *all_targets = NULL;
-struct target_event_callback *target_event_callbacks = NULL;
-struct target_timer_callback *target_timer_callbacks = NULL;
+struct target *all_targets;
+static struct target_event_callback *target_event_callbacks;
+static struct target_timer_callback *target_timer_callbacks;
+static const int polling_interval = 100;
 
 static const Jim_Nvp nvp_assert[] = {
        { .name = "assert", NVP_ASSERT },
@@ -121,16 +144,15 @@ static const Jim_Nvp nvp_error_target[] = {
        { .value = -1, .name = NULL }
 };
 
-const char *target_strerror_safe(int err)
+static const char *target_strerror_safe(int err)
 {
        const Jim_Nvp *n;
 
        n = Jim_Nvp_value2name_simple(nvp_error_target, err);
-       if (n->name == NULL) {
+       if (n->name == NULL)
                return "unknown";
-       } else {
+       else
                return n->name;
-       }
 }
 
 static const Jim_Nvp nvp_target_event[] = {
@@ -193,7 +215,7 @@ static const Jim_Nvp nvp_target_state[] = {
        { .name = NULL, .value = -1 },
 };
 
-static const Jim_Nvp nvp_target_debug_reason [] = {
+static const Jim_Nvp nvp_target_debug_reason[] = {
        { .name = "debug-request"            , .value = DBG_REASON_DBGRQ },
        { .name = "breakpoint"               , .value = DBG_REASON_BREAKPOINT },
        { .name = "watchpoint"               , .value = DBG_REASON_WATCHPOINT },
@@ -233,12 +255,11 @@ const char *debug_reason_name(struct target *t)
        return cp;
 }
 
-const char *
-target_state_name( struct target *t )
+const char *target_state_name(struct target *t)
 {
        const char *cp;
        cp = Jim_Nvp_value2name_simple(nvp_target_state, t->state)->name;
-       if( !cp ){
+       if (!cp) {
                LOG_ERROR("Invalid target state: %d", (int)(t->state));
                cp = "(*BUG*unknown*BUG*)";
        }
@@ -255,9 +276,8 @@ static int new_target_number(void)
        x = -1;
        t = all_targets;
        while (t) {
-               if (x < t->target_number) {
+               if (x < t->target_number)
                        x = t->target_number;
-               }
                t = t->next;
        }
        return x + 1;
@@ -272,6 +292,15 @@ uint32_t target_buffer_get_u32(struct target *target, const uint8_t *buffer)
                return be_to_h_u32(buffer);
 }
 
+/* read a uint24_t from a buffer in target memory endianness */
+uint32_t target_buffer_get_u24(struct target *target, const uint8_t *buffer)
+{
+       if (target->endianness == TARGET_LITTLE_ENDIAN)
+               return le_to_h_u24(buffer);
+       else
+               return be_to_h_u24(buffer);
+}
+
 /* read a uint16_t from a buffer in target memory endianness */
 uint16_t target_buffer_get_u16(struct target *target, const uint8_t *buffer)
 {
@@ -282,7 +311,7 @@ uint16_t target_buffer_get_u16(struct target *target, const uint8_t *buffer)
 }
 
 /* read a uint8_t from a buffer in target memory endianness */
-uint8_t target_buffer_get_u8(struct target *target, const uint8_t *buffer)
+static uint8_t target_buffer_get_u8(struct target *target, const uint8_t *buffer)
 {
        return *buffer & 0x0ff;
 }
@@ -296,6 +325,15 @@ void target_buffer_set_u32(struct target *target, uint8_t *buffer, uint32_t valu
                h_u32_to_be(buffer, value);
 }
 
+/* write a uint24_t to a buffer in target memory endianness */
+void target_buffer_set_u24(struct target *target, uint8_t *buffer, uint32_t value)
+{
+       if (target->endianness == TARGET_LITTLE_ENDIAN)
+               h_u24_to_le(buffer, value);
+       else
+               h_u24_to_be(buffer, value);
+}
+
 /* write a uint16_t to a buffer in target memory endianness */
 void target_buffer_set_u16(struct target *target, uint8_t *buffer, uint16_t value)
 {
@@ -306,11 +344,43 @@ void target_buffer_set_u16(struct target *target, uint8_t *buffer, uint16_t valu
 }
 
 /* write a uint8_t to a buffer in target memory endianness */
-void target_buffer_set_u8(struct target *target, uint8_t *buffer, uint8_t value)
+static void target_buffer_set_u8(struct target *target, uint8_t *buffer, uint8_t value)
 {
        *buffer = value;
 }
 
+/* write a uint32_t array to a buffer in target memory endianness */
+void target_buffer_get_u32_array(struct target *target, const uint8_t *buffer, uint32_t count, uint32_t *dstbuf)
+{
+       uint32_t i;
+       for (i = 0; i < count; i++)
+               dstbuf[i] = target_buffer_get_u32(target, &buffer[i * 4]);
+}
+
+/* write a uint16_t array to a buffer in target memory endianness */
+void target_buffer_get_u16_array(struct target *target, const uint8_t *buffer, uint32_t count, uint16_t *dstbuf)
+{
+       uint32_t i;
+       for (i = 0; i < count; i++)
+               dstbuf[i] = target_buffer_get_u16(target, &buffer[i * 2]);
+}
+
+/* write a uint32_t array to a buffer in target memory endianness */
+void target_buffer_set_u32_array(struct target *target, uint8_t *buffer, uint32_t count, uint32_t *srcbuf)
+{
+       uint32_t i;
+       for (i = 0; i < count; i++)
+               target_buffer_set_u32(target, &buffer[i * 4], srcbuf[i]);
+}
+
+/* write a uint16_t array to a buffer in target memory endianness */
+void target_buffer_set_u16_array(struct target *target, uint8_t *buffer, uint32_t count, uint16_t *srcbuf)
+{
+       uint32_t i;
+       for (i = 0; i < count; i++)
+               target_buffer_set_u16(target, &buffer[i * 2], srcbuf[i]);
+}
+
 /* return a pointer to a configured target; id is name or number */
 struct target *get_target(const char *id)
 {
@@ -348,21 +418,19 @@ static struct target *get_target_by_num(int num)
        struct target *target = all_targets;
 
        while (target) {
-               if (target->target_number == num) {
+               if (target->target_number == num)
                        return target;
-               }
                target = target->next;
        }
 
        return NULL;
 }
 
-struct targetget_current_target(struct command_context *cmd_ctx)
+struct target *get_current_target(struct command_context *cmd_ctx)
 {
        struct target *target = get_target_by_num(cmd_ctx->current_target);
 
-       if (target == NULL)
-       {
+       if (target == NULL) {
                LOG_ERROR("BUG: current_target out of bounds");
                exit(-1);
        }
@@ -375,8 +443,7 @@ int target_poll(struct target *target)
        int retval;
 
        /* We can't poll until after examine */
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                /* Fail silently lest we pollute the log */
                return ERROR_FAIL;
        }
@@ -385,16 +452,12 @@ int target_poll(struct target *target)
        if (retval != ERROR_OK)
                return retval;
 
-       if (target->halt_issued)
-       {
+       if (target->halt_issued) {
                if (target->state == TARGET_HALTED)
-               {
                        target->halt_issued = false;
-               } else
-               {
+               else {
                        long long t = timeval_ms() - target->halt_issued_time;
-                       if (t>1000)
-                       {
+                       if (t > 1000) {
                                target->halt_issued = false;
                                LOG_INFO("Halt timed out, wake up GDB.");
                                target_call_event_callbacks(target, TARGET_EVENT_GDB_HALT);
@@ -409,8 +472,7 @@ int target_halt(struct target *target)
 {
        int retval;
        /* We can't poll until after examine */
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -460,8 +522,7 @@ int target_resume(struct target *target, int current, uint32_t address, int hand
        int retval;
 
        /* We can't poll until after examine */
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -470,26 +531,14 @@ int target_resume(struct target *target, int current, uint32_t address, int hand
         * we poll. The CPU can even halt at the current PC as a result of
         * a software breakpoint being inserted by (a bug?) the application.
         */
-       if ((retval = target->type->resume(target, current, address, handle_breakpoints, debug_execution)) != ERROR_OK)
+       retval = target->type->resume(target, current, address, handle_breakpoints, debug_execution);
+       if (retval != ERROR_OK)
                return retval;
 
-       /* Invalidate any cached protect/erase/... flash status, since
-        * almost all targets will now be able modify the flash by
-        * themselves.  We want flash drivers and infrastructure to
-        * be able to rely on (non-invalidated) cached state.
-        *
-        * For now we require that algorithms provided by OpenOCD are
-        * used only by code which properly maintains that  cached state.
-        * state
-        *
-        * REVISIT do the same for NAND ; maybe other flash flavors too...
-        */
-               if (!target->running_alg)
-               nor_resume(target);
        return retval;
 }
 
-int target_process_reset(struct command_context *cmd_ctx, enum target_reset_mode reset_mode)
+static int target_process_reset(struct command_context *cmd_ctx, enum target_reset_mode reset_mode)
 {
        char buf[100];
        int retval;
@@ -514,7 +563,8 @@ int target_process_reset(struct command_context *cmd_ctx, enum target_reset_mode
        jtag_poll_set_enabled(save_poll);
 
        if (retval != JIM_OK) {
-               Jim_PrintErrorMessage(cmd_ctx->interp);
+               Jim_MakeErrorMessage(cmd_ctx->interp);
+               command_print(NULL, "%s\n", Jim_GetString(Jim_GetResult(cmd_ctx->interp), NULL));
                return ERROR_FAIL;
        }
 
@@ -522,9 +572,8 @@ int target_process_reset(struct command_context *cmd_ctx, enum target_reset_mode
        retval = target_call_timer_callbacks_now();
 
        struct target *target;
-       for (target = all_targets; target; target = target->next) {
+       for (target = all_targets; target; target = target->next)
                target->type->check_reset(target);
-       }
 
        return retval;
 }
@@ -581,15 +630,15 @@ int target_examine(void)
        int retval = ERROR_OK;
        struct target *target;
 
-       for (target = all_targets; target; target = target->next)
-       {
+       for (target = all_targets; target; target = target->next) {
                /* defer examination, but don't skip it */
                if (!target->tap->enabled) {
                        jtag_register_event_callback(jtag_enable_callback,
                                        target);
                        continue;
                }
-               if ((retval = target_examine_one(target)) != ERROR_OK)
+               retval = target_examine_one(target);
+               if (retval != ERROR_OK)
                        return retval;
        }
        return retval;
@@ -599,20 +648,20 @@ const char *target_type_name(struct target *target)
        return target->type->name;
 }
 
-static int target_write_memory_imp(struct target *target, uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+static int target_write_memory_imp(struct target *target, uint32_t address,
+               uint32_t size, uint32_t count, const uint8_t *buffer)
 {
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
        return target->type->write_memory_imp(target, address, size, count, buffer);
 }
 
-static int target_read_memory_imp(struct target *target, uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+static int target_read_memory_imp(struct target *target, uint32_t address,
+               uint32_t size, uint32_t count, uint8_t *buffer)
 {
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -621,8 +670,7 @@ static int target_read_memory_imp(struct target *target, uint32_t address, uint3
 
 static int target_soft_reset_halt_imp(struct target *target)
 {
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -653,8 +701,7 @@ int target_run_algorithm(struct target *target,
 {
        int retval = ERROR_FAIL;
 
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                goto done;
        }
@@ -675,6 +722,80 @@ done:
        return retval;
 }
 
+/**
+ * Downloads a target-specific native code algorithm to the target,
+ * executes and leaves it running.
+ *
+ * @param target used to run the algorithm
+ * @param arch_info target-specific description of the algorithm.
+ */
+int target_start_algorithm(struct target *target,
+               int num_mem_params, struct mem_param *mem_params,
+               int num_reg_params, struct reg_param *reg_params,
+               uint32_t entry_point, uint32_t exit_point,
+               void *arch_info)
+{
+       int retval = ERROR_FAIL;
+
+       if (!target_was_examined(target)) {
+               LOG_ERROR("Target not examined yet");
+               goto done;
+       }
+       if (!target->type->start_algorithm) {
+               LOG_ERROR("Target type '%s' does not support %s",
+                               target_type_name(target), __func__);
+               goto done;
+       }
+       if (target->running_alg) {
+               LOG_ERROR("Target is already running an algorithm");
+               goto done;
+       }
+
+       target->running_alg = true;
+       retval = target->type->start_algorithm(target,
+                       num_mem_params, mem_params,
+                       num_reg_params, reg_params,
+                       entry_point, exit_point, arch_info);
+
+done:
+       return retval;
+}
+
+/**
+ * Waits for an algorithm started with target_start_algorithm() to complete.
+ *
+ * @param target used to run the algorithm
+ * @param arch_info target-specific description of the algorithm.
+ */
+int target_wait_algorithm(struct target *target,
+               int num_mem_params, struct mem_param *mem_params,
+               int num_reg_params, struct reg_param *reg_params,
+               uint32_t exit_point, int timeout_ms,
+               void *arch_info)
+{
+       int retval = ERROR_FAIL;
+
+       if (!target->type->wait_algorithm) {
+               LOG_ERROR("Target type '%s' does not support %s",
+                               target_type_name(target), __func__);
+               goto done;
+       }
+       if (!target->running_alg) {
+               LOG_ERROR("Target is not running an algorithm");
+               goto done;
+       }
+
+       retval = target->type->wait_algorithm(target,
+                       num_mem_params, mem_params,
+                       num_reg_params, reg_params,
+                       exit_point, timeout_ms, arch_info);
+       if (retval != ERROR_TARGET_TIMEOUT)
+               target->running_alg = false;
+
+done:
+       return retval;
+}
+
 
 int target_read_memory(struct target *target,
                uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
@@ -682,26 +803,26 @@ int target_read_memory(struct target *target,
        return target->type->read_memory(target, address, size, count, buffer);
 }
 
-int target_read_phys_memory(struct target *target,
+static int target_read_phys_memory(struct target *target,
                uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
 {
        return target->type->read_phys_memory(target, address, size, count, buffer);
 }
 
 int target_write_memory(struct target *target,
-               uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        return target->type->write_memory(target, address, size, count, buffer);
 }
 
-int target_write_phys_memory(struct target *target,
-               uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+static int target_write_phys_memory(struct target *target,
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        return target->type->write_phys_memory(target, address, size, count, buffer);
 }
 
 int target_bulk_write_memory(struct target *target,
-               uint32_t address, uint32_t count, uint8_t *buffer)
+               uint32_t address, uint32_t count, const uint8_t *buffer)
 {
        return target->type->bulk_write_memory(target, address, count, buffer);
 }
@@ -709,12 +830,33 @@ int target_bulk_write_memory(struct target *target,
 int target_add_breakpoint(struct target *target,
                struct breakpoint *breakpoint)
 {
-       if (target->state != TARGET_HALTED) {
+       if ((target->state != TARGET_HALTED) && (breakpoint->type != BKPT_HARD)) {
                LOG_WARNING("target %s is not halted", target->cmd_name);
                return ERROR_TARGET_NOT_HALTED;
        }
        return target->type->add_breakpoint(target, breakpoint);
 }
+
+int target_add_context_breakpoint(struct target *target,
+               struct breakpoint *breakpoint)
+{
+       if (target->state != TARGET_HALTED) {
+               LOG_WARNING("target %s is not halted", target->cmd_name);
+               return ERROR_TARGET_NOT_HALTED;
+       }
+       return target->type->add_context_breakpoint(target, breakpoint);
+}
+
+int target_add_hybrid_breakpoint(struct target *target,
+               struct breakpoint *breakpoint)
+{
+       if (target->state != TARGET_HALTED) {
+               LOG_WARNING("target %s is not halted", target->cmd_name);
+               return ERROR_TARGET_NOT_HALTED;
+       }
+       return target->type->add_hybrid_breakpoint(target, breakpoint);
+}
+
 int target_remove_breakpoint(struct target *target,
                struct breakpoint *breakpoint)
 {
@@ -747,7 +889,6 @@ int target_step(struct target *target,
        return target->type->step(target, current, address, handle_breakpoints);
 }
 
-
 /**
  * Reset the @c examined flag for the given target.
  * Pure paranoia -- targets are zeroed on allocation.
@@ -757,17 +898,15 @@ static void target_reset_examined(struct target *target)
        target->examined = false;
 }
 
-static int
-err_read_phys_memory(struct target *target, uint32_t address,
+static int err_read_phys_memory(struct target *target, uint32_t address,
                uint32_t size, uint32_t count, uint8_t *buffer)
 {
        LOG_ERROR("Not implemented: %s", __func__);
        return ERROR_FAIL;
 }
 
-static int
-err_write_phys_memory(struct target *target, uint32_t address,
-               uint32_t size, uint32_t count, uint8_t *buffer)
+static int err_write_phys_memory(struct target *target, uint32_t address,
+               uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        LOG_ERROR("Not implemented: %s", __func__);
        return ERROR_FAIL;
@@ -784,12 +923,13 @@ static int target_init_one(struct command_context *cmd_ctx,
        if (type->examine == NULL)
                type->examine = default_examine;
 
-       if (type->check_reset== NULL)
+       if (type->check_reset == NULL)
                type->check_reset = default_check_reset;
 
+       assert(type->init_target != NULL);
+
        int retval = type->init_target(cmd_ctx, target);
-       if (ERROR_OK != retval)
-       {
+       if (ERROR_OK != retval) {
                LOG_ERROR("target '%s' init failed", target_name(target));
                return retval;
        }
@@ -814,53 +954,50 @@ static int target_init_one(struct command_context *cmd_ctx,
        /* Sanity-check MMU support ... stub in what we must, to help
         * implement it in stages, but warn if we need to do so.
         */
-       if (type->mmu)
-       {
-               if (type->write_phys_memory == NULL)
-               {
+       if (type->mmu) {
+               if (type->write_phys_memory == NULL) {
                        LOG_ERROR("type '%s' is missing write_phys_memory",
                                        type->name);
                        type->write_phys_memory = err_write_phys_memory;
                }
-               if (type->read_phys_memory == NULL)
-               {
+               if (type->read_phys_memory == NULL) {
                        LOG_ERROR("type '%s' is missing read_phys_memory",
                                        type->name);
                        type->read_phys_memory = err_read_phys_memory;
                }
-               if (type->virt2phys == NULL)
-               {
+               if (type->virt2phys == NULL) {
                        LOG_ERROR("type '%s' is missing virt2phys", type->name);
                        type->virt2phys = identity_virt2phys;
                }
-       }
-       else
-       {
+       } else {
                /* Make sure no-MMU targets all behave the same:  make no
                 * distinction between physical and virtual addresses, and
                 * ensure that virt2phys() is always an identity mapping.
                 */
-               if (type->write_phys_memory || type->read_phys_memory
-                               || type->virt2phys)
-               {
+               if (type->write_phys_memory || type->read_phys_memory || type->virt2phys)
                        LOG_WARNING("type '%s' has bad MMU hooks", type->name);
-               }
 
                type->mmu = no_mmu;
                type->write_phys_memory = type->write_memory;
                type->read_phys_memory = type->read_memory;
                type->virt2phys = identity_virt2phys;
        }
+
+       if (target->type->read_buffer == NULL)
+               target->type->read_buffer = target_read_buffer_default;
+
+       if (target->type->write_buffer == NULL)
+               target->type->write_buffer = target_write_buffer_default;
+
        return ERROR_OK;
 }
 
-int target_init(struct command_context *cmd_ctx)
+static int target_init(struct command_context *cmd_ctx)
 {
        struct target *target;
        int retval;
 
-       for (target = all_targets; target; target = target->next)
-       {
+       for (target = all_targets; target; target = target->next) {
                retval = target_init_one(cmd_ctx, target);
                if (ERROR_OK != retval)
                        return retval;
@@ -874,7 +1011,7 @@ int target_init(struct command_context *cmd_ctx)
                return retval;
 
        retval = target_register_timer_callback(&handle_target,
-                       100, 1, cmd_ctx->interp);
+                       polling_interval, 1, cmd_ctx->interp);
        if (ERROR_OK != retval)
                return retval;
 
@@ -883,32 +1020,39 @@ int target_init(struct command_context *cmd_ctx)
 
 COMMAND_HANDLER(handle_target_init_command)
 {
+       int retval;
+
        if (CMD_ARGC != 0)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
-       static bool target_initialized = false;
-       if (target_initialized)
-       {
+       static bool target_initialized;
+       if (target_initialized) {
                LOG_INFO("'target init' has already been called");
                return ERROR_OK;
        }
        target_initialized = true;
 
+       retval = command_run_line(CMD_CTX, "init_targets");
+       if (ERROR_OK != retval)
+               return retval;
+
+       retval = command_run_line(CMD_CTX, "init_board");
+       if (ERROR_OK != retval)
+               return retval;
+
        LOG_DEBUG("Initializing targets...");
        return target_init(CMD_CTX);
 }
 
-int target_register_event_callback(int (*callback)(struct target *target, enum target_event event, void *priv), void *priv)
+int target_register_event_callback(int (*callback)(struct target *target,
+               enum target_event event, void *priv), void *priv)
 {
        struct target_event_callback **callbacks_p = &target_event_callbacks;
 
        if (callback == NULL)
-       {
-               return ERROR_INVALID_ARGUMENTS;
-       }
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (*callbacks_p)
-       {
+       if (*callbacks_p) {
                while ((*callbacks_p)->next)
                        callbacks_p = &((*callbacks_p)->next);
                callbacks_p = &((*callbacks_p)->next);
@@ -928,12 +1072,9 @@ int target_register_timer_callback(int (*callback)(void *priv), int time_ms, int
        struct timeval now;
 
        if (callback == NULL)
-       {
-               return ERROR_INVALID_ARGUMENTS;
-       }
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-       if (*callbacks_p)
-       {
+       if (*callbacks_p) {
                while ((*callbacks_p)->next)
                        callbacks_p = &((*callbacks_p)->next);
                callbacks_p = &((*callbacks_p)->next);
@@ -948,8 +1089,7 @@ int target_register_timer_callback(int (*callback)(void *priv), int time_ms, int
        (*callbacks_p)->when.tv_usec = now.tv_usec + (time_ms % 1000) * 1000;
        time_ms -= (time_ms % 1000);
        (*callbacks_p)->when.tv_sec = now.tv_sec + (time_ms / 1000);
-       if ((*callbacks_p)->when.tv_usec > 1000000)
-       {
+       if ((*callbacks_p)->when.tv_usec > 1000000) {
                (*callbacks_p)->when.tv_usec = (*callbacks_p)->when.tv_usec - 1000000;
                (*callbacks_p)->when.tv_sec += 1;
        }
@@ -960,26 +1100,22 @@ int target_register_timer_callback(int (*callback)(void *priv), int time_ms, int
        return ERROR_OK;
 }
 
-int target_unregister_event_callback(int (*callback)(struct target *target, enum target_event event, void *priv), void *priv)
+int target_unregister_event_callback(int (*callback)(struct target *target,
+               enum target_event event, void *priv), void *priv)
 {
        struct target_event_callback **p = &target_event_callbacks;
        struct target_event_callback *c = target_event_callbacks;
 
        if (callback == NULL)
-       {
-               return ERROR_INVALID_ARGUMENTS;
-       }
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-       while (c)
-       {
+       while (c) {
                struct target_event_callback *next = c->next;
-               if ((c->callback == callback) && (c->priv == priv))
-               {
+               if ((c->callback == callback) && (c->priv == priv)) {
                        *p = next;
                        free(c);
                        return ERROR_OK;
-               }
-               else
+               } else
                        p = &(c->next);
                c = next;
        }
@@ -987,26 +1123,21 @@ int target_unregister_event_callback(int (*callback)(struct target *target, enum
        return ERROR_OK;
 }
 
-int target_unregister_timer_callback(int (*callback)(void *priv), void *priv)
+static int target_unregister_timer_callback(int (*callback)(void *priv), void *priv)
 {
        struct target_timer_callback **p = &target_timer_callbacks;
        struct target_timer_callback *c = target_timer_callbacks;
 
        if (callback == NULL)
-       {
-               return ERROR_INVALID_ARGUMENTS;
-       }
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-       while (c)
-       {
+       while (c) {
                struct target_timer_callback *next = c->next;
-               if ((c->callback == callback) && (c->priv == priv))
-               {
+               if ((c->callback == callback) && (c->priv == priv)) {
                        *p = next;
                        free(c);
                        return ERROR_OK;
-               }
-               else
+               } else
                        p = &(c->next);
                c = next;
        }
@@ -1019,20 +1150,17 @@ int target_call_event_callbacks(struct target *target, enum target_event event)
        struct target_event_callback *callback = target_event_callbacks;
        struct target_event_callback *next_callback;
 
-       if (event == TARGET_EVENT_HALTED)
-       {
+       if (event == TARGET_EVENT_HALTED) {
                /* execute early halted first */
                target_call_event_callbacks(target, TARGET_EVENT_GDB_HALT);
        }
 
-       LOG_DEBUG("target event %i (%s)",
-                         event,
-                         Jim_Nvp_value2name_simple(nvp_target_event, event)->name);
+       LOG_DEBUG("target event %i (%s)", event,
+                       Jim_Nvp_value2name_simple(nvp_target_event, event)->name);
 
        target_handle_event(target, event);
 
-       while (callback)
-       {
+       while (callback) {
                next_callback = callback->next;
                callback->callback(target, event, callback->priv);
                callback = next_callback;
@@ -1048,8 +1176,7 @@ static int target_timer_callback_periodic_restart(
        cb->when.tv_usec = now->tv_usec + (time_ms % 1000) * 1000;
        time_ms -= (time_ms % 1000);
        cb->when.tv_sec = now->tv_sec + time_ms / 1000;
-       if (cb->when.tv_usec > 1000000)
-       {
+       if (cb->when.tv_usec > 1000000) {
                cb->when.tv_usec = cb->when.tv_usec - 1000000;
                cb->when.tv_sec += 1;
        }
@@ -1075,9 +1202,8 @@ static int target_call_timer_callbacks_check_time(int checktime)
        gettimeofday(&now, NULL);
 
        struct target_timer_callback *callback = target_timer_callbacks;
-       while (callback)
-       {
-               // cleaning up may unregister and free this callback
+       while (callback) {
+               /* cleaning up may unregister and free this callback */
                struct target_timer_callback *next_callback = callback->next;
 
                bool call_it = callback->callback &&
@@ -1086,8 +1212,7 @@ static int target_call_timer_callbacks_check_time(int checktime)
                         (now.tv_sec == callback->when.tv_sec &&
                          now.tv_usec >= callback->when.tv_usec));
 
-               if (call_it)
-               {
+               if (call_it) {
                        int retval = target_call_timer_callback(callback, &now);
                        if (retval != ERROR_OK)
                                return retval;
@@ -1110,28 +1235,99 @@ int target_call_timer_callbacks_now(void)
        return target_call_timer_callbacks_check_time(0);
 }
 
-int target_alloc_working_area(struct target *target, uint32_t size, struct working_area **area)
+/* Prints the working area layout for debug purposes */
+static void print_wa_layout(struct target *target)
 {
        struct working_area *c = target->working_areas;
-       struct working_area *new_wa = NULL;
 
+       while (c) {
+               LOG_DEBUG("%c%c 0x%08"PRIx32"-0x%08"PRIx32" (%"PRIu32" bytes)",
+                       c->backup ? 'b' : ' ', c->free ? ' ' : '*',
+                       c->address, c->address + c->size - 1, c->size);
+               c = c->next;
+       }
+}
+
+/* Reduce area to size bytes, create a new free area from the remaining bytes, if any. */
+static void target_split_working_area(struct working_area *area, uint32_t size)
+{
+       assert(area->free); /* Shouldn't split an allocated area */
+       assert(size <= area->size); /* Caller should guarantee this */
+
+       /* Split only if not already the right size */
+       if (size < area->size) {
+               struct working_area *new_wa = malloc(sizeof(*new_wa));
+
+               if (new_wa == NULL)
+                       return;
+
+               new_wa->next = area->next;
+               new_wa->size = area->size - size;
+               new_wa->address = area->address + size;
+               new_wa->backup = NULL;
+               new_wa->user = NULL;
+               new_wa->free = true;
+
+               area->next = new_wa;
+               area->size = size;
+
+               /* If backup memory was allocated to this area, it has the wrong size
+                * now so free it and it will be reallocated if/when needed */
+               if (area->backup) {
+                       free(area->backup);
+                       area->backup = NULL;
+               }
+       }
+}
+
+/* Merge all adjacent free areas into one */
+static void target_merge_working_areas(struct target *target)
+{
+       struct working_area *c = target->working_areas;
+
+       while (c && c->next) {
+               assert(c->next->address == c->address + c->size); /* This is an invariant */
+
+               /* Find two adjacent free areas */
+               if (c->free && c->next->free) {
+                       /* Merge the last into the first */
+                       c->size += c->next->size;
+
+                       /* Remove the last */
+                       struct working_area *to_be_freed = c->next;
+                       c->next = c->next->next;
+                       if (to_be_freed->backup)
+                               free(to_be_freed->backup);
+                       free(to_be_freed);
+
+                       /* If backup memory was allocated to the remaining area, it's has
+                        * the wrong size now */
+                       if (c->backup) {
+                               free(c->backup);
+                               c->backup = NULL;
+                       }
+               } else {
+                       c = c->next;
+               }
+       }
+}
+
+int target_alloc_working_area_try(struct target *target, uint32_t size, struct working_area **area)
+{
        /* Reevaluate working area address based on MMU state*/
-       if (target->working_areas == NULL)
-       {
+       if (target->working_areas == NULL) {
                int retval;
                int enabled;
 
                retval = target->type->mmu(target, &enabled);
                if (retval != ERROR_OK)
-               {
                        return retval;
-               }
 
                if (!enabled) {
                        if (target->working_area_phys_spec) {
                                LOG_DEBUG("MMU disabled, using physical "
-                                       "address for working memory 0x%08x",
-                                       (unsigned)target->working_area_phys);
+                                       "address for working memory 0x%08"PRIx32,
+                                       target->working_area_phys);
                                target->working_area = target->working_area_phys;
                        } else {
                                LOG_ERROR("No working memory available. "
@@ -1141,8 +1337,8 @@ int target_alloc_working_area(struct target *target, uint32_t size, struct worki
                } else {
                        if (target->working_area_virt_spec) {
                                LOG_DEBUG("MMU enabled, using virtual "
-                                       "address for working memory 0x%08x",
-                                       (unsigned)target->working_area_virt);
+                                       "address for working memory 0x%08"PRIx32,
+                                       target->working_area_virt);
                                target->working_area = target->working_area_virt;
                        } else {
                                LOG_ERROR("No working memory available. "
@@ -1150,105 +1346,123 @@ int target_alloc_working_area(struct target *target, uint32_t size, struct worki
                                return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
                        }
                }
+
+               /* Set up initial working area on first call */
+               struct working_area *new_wa = malloc(sizeof(*new_wa));
+               if (new_wa) {
+                       new_wa->next = NULL;
+                       new_wa->size = target->working_area_size & ~3UL; /* 4-byte align */
+                       new_wa->address = target->working_area;
+                       new_wa->backup = NULL;
+                       new_wa->user = NULL;
+                       new_wa->free = true;
+               }
+
+               target->working_areas = new_wa;
        }
 
        /* only allocate multiples of 4 byte */
        if (size % 4)
-       {
-               LOG_ERROR("BUG: code tried to allocate unaligned number of bytes (0x%08x), padding", ((unsigned)(size)));
-               size = (size + 3) & (~3);
-       }
+               size = (size + 3) & (~3UL);
 
-       /* see if there's already a matching working area */
-       while (c)
-       {
-               if ((c->free) && (c->size == size))
-               {
-                       new_wa = c;
+       struct working_area *c = target->working_areas;
+
+       /* Find the first large enough working area */
+       while (c) {
+               if (c->free && c->size >= size)
                        break;
-               }
                c = c->next;
        }
 
-       /* if not, allocate a new one */
-       if (!new_wa)
-       {
-               struct working_area **p = &target->working_areas;
-               uint32_t first_free = target->working_area;
-               uint32_t free_size = target->working_area_size;
-
-               c = target->working_areas;
-               while (c)
-               {
-                       first_free += c->size;
-                       free_size -= c->size;
-                       p = &c->next;
-                       c = c->next;
-               }
-
-               if (free_size < size)
-               {
-                       LOG_WARNING("not enough working area available(requested %u, free %u)",
-                                   (unsigned)(size), (unsigned)(free_size));
-                       return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
-               }
+       if (c == NULL)
+               return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
 
-               LOG_DEBUG("allocated new working area at address 0x%08x", (unsigned)first_free);
+       /* Split the working area into the requested size */
+       target_split_working_area(c, size);
 
-               new_wa = malloc(sizeof(struct working_area));
-               new_wa->next = NULL;
-               new_wa->size = size;
-               new_wa->address = first_free;
+       LOG_DEBUG("allocated new working area of %"PRIu32" bytes at address 0x%08"PRIx32, size, c->address);
 
-               if (target->backup_working_area)
-               {
-                       int retval;
-                       new_wa->backup = malloc(new_wa->size);
-                       if ((retval = target_read_memory(target, new_wa->address, 4, new_wa->size / 4, new_wa->backup)) != ERROR_OK)
-                       {
-                               free(new_wa->backup);
-                               free(new_wa);
-                               return retval;
-                       }
-               }
-               else
-               {
-                       new_wa->backup = NULL;
+       if (target->backup_working_area) {
+               if (c->backup == NULL) {
+                       c->backup = malloc(c->size);
+                       if (c->backup == NULL)
+                               return ERROR_FAIL;
                }
 
-               /* put new entry in list */
-               *p = new_wa;
+               int retval = target_read_memory(target, c->address, 4, c->size / 4, c->backup);
+               if (retval != ERROR_OK)
+                       return retval;
        }
 
        /* mark as used, and return the new (reused) area */
-       new_wa->free = 0;
-       *area = new_wa;
+       c->free = false;
+       *area = c;
 
        /* user pointer */
-       new_wa->user = area;
+       c->user = area;
+
+       print_wa_layout(target);
 
        return ERROR_OK;
 }
 
-int target_free_working_area_restore(struct target *target, struct working_area *area, int restore)
+int target_alloc_working_area(struct target *target, uint32_t size, struct working_area **area)
+{
+       int retval;
+
+       retval = target_alloc_working_area_try(target, size, area);
+       if (retval == ERROR_TARGET_RESOURCE_NOT_AVAILABLE)
+               LOG_WARNING("not enough working area available(requested %"PRIu32")", size);
+       return retval;
+
+}
+
+static int target_restore_working_area(struct target *target, struct working_area *area)
 {
+       int retval = ERROR_OK;
+
+       if (target->backup_working_area && area->backup != NULL) {
+               retval = target_write_memory(target, area->address, 4, area->size / 4, area->backup);
+               if (retval != ERROR_OK)
+                       LOG_ERROR("failed to restore %"PRIu32" bytes of working area at address 0x%08"PRIx32,
+                                       area->size, area->address);
+       }
+
+       return retval;
+}
+
+/* Restore the area's backup memory, if any, and return the area to the allocation pool */
+static int target_free_working_area_restore(struct target *target, struct working_area *area, int restore)
+{
+       int retval = ERROR_OK;
+
        if (area->free)
-               return ERROR_OK;
+               return retval;
 
-       if (restore && target->backup_working_area)
-       {
-               int retval;
-               if ((retval = target_write_memory(target, area->address, 4, area->size / 4, area->backup)) != ERROR_OK)
+       if (restore) {
+               retval = target_restore_working_area(target, area);
+               /* REVISIT: Perhaps the area should be freed even if restoring fails. */
+               if (retval != ERROR_OK)
                        return retval;
        }
 
-       area->free = 1;
+       area->free = true;
+
+       LOG_DEBUG("freed %"PRIu32" bytes of working area at address 0x%08"PRIx32,
+                       area->size, area->address);
 
        /* mark user pointer invalid */
+       /* TODO: Is this really safe? It points to some previous caller's memory.
+        * How could we know that the area pointer is still in that place and not
+        * some other vital data? What's the purpose of this, anyway? */
        *area->user = NULL;
        area->user = NULL;
 
-       return ERROR_OK;
+       target_merge_working_areas(target);
+
+       print_wa_layout(target);
+
+       return retval;
 }
 
 int target_free_working_area(struct target *target, struct working_area *area)
@@ -1259,24 +1473,28 @@ int target_free_working_area(struct target *target, struct working_area *area)
 /* free resources and restore memory, if restoring memory fails,
  * free up resources anyway
  */
-void target_free_all_working_areas_restore(struct target *target, int restore)
+static void target_free_all_working_areas_restore(struct target *target, int restore)
 {
        struct working_area *c = target->working_areas;
 
-       while (c)
-       {
-               struct working_area *next = c->next;
-               target_free_working_area_restore(target, c, restore);
-
-               if (c->backup)
-                       free(c->backup);
+       LOG_DEBUG("freeing all working areas");
 
-               free(c);
-
-               c = next;
+       /* Loop through all areas, restoring the allocated ones and marking them as free */
+       while (c) {
+               if (!c->free) {
+                       if (restore)
+                               target_restore_working_area(target, c);
+                       c->free = true;
+                       *c->user = NULL; /* Same as above */
+                       c->user = NULL;
+               }
+               c = c->next;
        }
 
-       target->working_areas = NULL;
+       /* Run a merge pass to combine all areas into one */
+       target_merge_working_areas(target);
+
+       print_wa_layout(target);
 }
 
 void target_free_all_working_areas(struct target *target)
@@ -1284,16 +1502,34 @@ void target_free_all_working_areas(struct target *target)
        target_free_all_working_areas_restore(target, 1);
 }
 
+/* Find the largest number of bytes that can be allocated */
+uint32_t target_get_working_area_avail(struct target *target)
+{
+       struct working_area *c = target->working_areas;
+       uint32_t max_size = 0;
+
+       if (c == NULL)
+               return target->working_area_size;
+
+       while (c) {
+               if (c->free && max_size < c->size)
+                       max_size = c->size;
+
+               c = c->next;
+       }
+
+       return max_size;
+}
+
 int target_arch_state(struct target *target)
 {
        int retval;
-       if (target == NULL)
-       {
+       if (target == NULL) {
                LOG_USER("No target has been configured");
                return ERROR_OK;
        }
 
-       LOG_USER("target state: %s", target_state_name( target ));
+       LOG_USER("target state: %s", target_state_name(target));
 
        if (target->state != TARGET_HALTED)
                return ERROR_OK;
@@ -1306,24 +1542,20 @@ int target_arch_state(struct target *target)
  * mode respectively, otherwise data is handled as quickly as
  * possible
  */
-int target_write_buffer(struct target *target, uint32_t address, uint32_t size, uint8_t *buffer)
+int target_write_buffer(struct target *target, uint32_t address, uint32_t size, const uint8_t *buffer)
 {
-       int retval;
        LOG_DEBUG("writing buffer of %i byte at 0x%8.8x",
-                 (int)size, (unsigned)address);
+                       (int)size, (unsigned)address);
 
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
 
-       if (size == 0) {
+       if (size == 0)
                return ERROR_OK;
-       }
 
-       if ((address + size - 1) < address)
-       {
+       if ((address + size - 1) < address) {
                /* GDB can request this when e.g. PC is 0xfffffffc*/
                LOG_ERROR("address + size wrapped(0x%08x, 0x%08x)",
                                  (unsigned)address,
@@ -1331,20 +1563,25 @@ int target_write_buffer(struct target *target, uint32_t address, uint32_t size,
                return ERROR_FAIL;
        }
 
+       return target->type->write_buffer(target, address, size, buffer);
+}
+
+static int target_write_buffer_default(struct target *target, uint32_t address, uint32_t size, const uint8_t *buffer)
+{
+       int retval = ERROR_OK;
+
        if (((address % 2) == 0) && (size == 2))
-       {
                return target_write_memory(target, address, 2, 1, buffer);
-       }
 
        /* handle unaligned head bytes */
-       if (address % 4)
-       {
+       if (address % 4) {
                uint32_t unaligned = 4 - (address % 4);
 
                if (unaligned > size)
                        unaligned = size;
 
-               if ((retval = target_write_memory(target, address, 1, unaligned, buffer)) != ERROR_OK)
+               retval = target_write_memory(target, address, 1, unaligned, buffer);
+               if (retval != ERROR_OK)
                        return retval;
 
                buffer += unaligned;
@@ -1353,19 +1590,17 @@ int target_write_buffer(struct target *target, uint32_t address, uint32_t size,
        }
 
        /* handle aligned words */
-       if (size >= 4)
-       {
+       if (size >= 4) {
                int aligned = size - (size % 4);
 
                /* use bulk writes above a certain limit. This may have to be changed */
-               if (aligned > 128)
-               {
-                       if ((retval = target->type->bulk_write_memory(target, address, aligned / 4, buffer)) != ERROR_OK)
+               if (aligned > 128) {
+                       retval = target->type->bulk_write_memory(target, address, aligned / 4, buffer);
+                       if (retval != ERROR_OK)
                                return retval;
-               }
-               else
-               {
-                       if ((retval = target_write_memory(target, address, 4, aligned / 4, buffer)) != ERROR_OK)
+               } else {
+                       retval = target_write_memory(target, address, 4, aligned / 4, buffer);
+                       if (retval != ERROR_OK)
                                return retval;
                }
 
@@ -1375,13 +1610,13 @@ int target_write_buffer(struct target *target, uint32_t address, uint32_t size,
        }
 
        /* handle tail writes of less than 4 bytes */
-       if (size > 0)
-       {
-               if ((retval = target_write_memory(target, address, 1, size, buffer)) != ERROR_OK)
+       if (size > 0) {
+               retval = target_write_memory(target, address, 1, size, buffer);
+               if (retval != ERROR_OK)
                        return retval;
        }
 
-       return ERROR_OK;
+       return retval;
 }
 
 /* Single aligned words are guaranteed to use 16 or 32 bit access
@@ -1390,22 +1625,18 @@ int target_write_buffer(struct target *target, uint32_t address, uint32_t size,
  */
 int target_read_buffer(struct target *target, uint32_t address, uint32_t size, uint8_t *buffer)
 {
-       int retval;
        LOG_DEBUG("reading buffer of %i byte at 0x%8.8x",
                          (int)size, (unsigned)address);
 
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
 
-       if (size == 0) {
+       if (size == 0)
                return ERROR_OK;
-       }
 
-       if ((address + size - 1) < address)
-       {
+       if ((address + size - 1) < address) {
                /* GDB can request this when e.g. PC is 0xfffffffc*/
                LOG_ERROR("address + size wrapped(0x%08" PRIx32 ", 0x%08" PRIx32 ")",
                                  address,
@@ -1413,20 +1644,25 @@ int target_read_buffer(struct target *target, uint32_t address, uint32_t size, u
                return ERROR_FAIL;
        }
 
+       return target->type->read_buffer(target, address, size, buffer);
+}
+
+static int target_read_buffer_default(struct target *target, uint32_t address, uint32_t size, uint8_t *buffer)
+{
+       int retval = ERROR_OK;
+
        if (((address % 2) == 0) && (size == 2))
-       {
                return target_read_memory(target, address, 2, 1, buffer);
-       }
 
        /* handle unaligned head bytes */
-       if (address % 4)
-       {
+       if (address % 4) {
                uint32_t unaligned = 4 - (address % 4);
 
                if (unaligned > size)
                        unaligned = size;
 
-               if ((retval = target_read_memory(target, address, 1, unaligned, buffer)) != ERROR_OK)
+               retval = target_read_memory(target, address, 1, unaligned, buffer);
+               if (retval != ERROR_OK)
                        return retval;
 
                buffer += unaligned;
@@ -1435,11 +1671,11 @@ int target_read_buffer(struct target *target, uint32_t address, uint32_t size, u
        }
 
        /* handle aligned words */
-       if (size >= 4)
-       {
+       if (size >= 4) {
                int aligned = size - (size % 4);
 
-               if ((retval = target_read_memory(target, address, 4, aligned / 4, buffer)) != ERROR_OK)
+               retval = target_read_memory(target, address, 4, aligned / 4, buffer);
+               if (retval != ERROR_OK)
                        return retval;
 
                buffer += aligned;
@@ -1448,9 +1684,8 @@ int target_read_buffer(struct target *target, uint32_t address, uint32_t size, u
        }
 
        /*prevent byte access when possible (avoid AHB access limitations in some cases)*/
-       if(size >=2)
-       {
-               int aligned = size - (size%2);
+       if (size        >= 2) {
+               int aligned = size - (size % 2);
                retval = target_read_memory(target, address, 2, aligned / 2, buffer);
                if (retval != ERROR_OK)
                        return retval;
@@ -1460,9 +1695,9 @@ int target_read_buffer(struct target *target, uint32_t address, uint32_t size, u
                size -= aligned;
        }
        /* handle tail writes of less than 4 bytes */
-       if (size > 0)
-       {
-               if ((retval = target_read_memory(target, address, 1, size, buffer)) != ERROR_OK)
+       if (size > 0) {
+               retval = target_read_memory(target, address, 1, size, buffer);
+               if (retval != ERROR_OK)
                        return retval;
        }
 
@@ -1475,31 +1710,26 @@ int target_checksum_memory(struct target *target, uint32_t address, uint32_t siz
        int retval;
        uint32_t i;
        uint32_t checksum = 0;
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
 
-       if ((retval = target->type->checksum_memory(target, address,
-               size, &checksum)) != ERROR_OK)
-       {
+       retval = target->type->checksum_memory(target, address, size, &checksum);
+       if (retval != ERROR_OK) {
                buffer = malloc(size);
-               if (buffer == NULL)
-               {
+               if (buffer == NULL) {
                        LOG_ERROR("error allocating buffer for section (%d bytes)", (int)size);
-                       return ERROR_INVALID_ARGUMENTS;
+                       return ERROR_COMMAND_SYNTAX_ERROR;
                }
                retval = target_read_buffer(target, address, size, buffer);
-               if (retval != ERROR_OK)
-               {
+               if (retval != ERROR_OK) {
                        free(buffer);
                        return retval;
                }
 
-               /* convert to target endianess */
-               for (i = 0; i < (size/sizeof(uint32_t)); i++)
-               {
+               /* convert to target endianness */
+               for (i = 0; i < (size/sizeof(uint32_t)); i++) {
                        uint32_t target_data;
                        target_data = target_buffer_get_u32(target, &buffer[i*sizeof(uint32_t)]);
                        target_buffer_set_u32(target, &buffer[i*sizeof(uint32_t)], target_data);
@@ -1517,8 +1747,7 @@ int target_checksum_memory(struct target *target, uint32_t address, uint32_t siz
 int target_blank_check_memory(struct target *target, uint32_t address, uint32_t size, uint32_t* blank)
 {
        int retval;
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -1534,23 +1763,19 @@ int target_blank_check_memory(struct target *target, uint32_t address, uint32_t
 int target_read_u32(struct target *target, uint32_t address, uint32_t *value)
 {
        uint8_t value_buf[4];
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
 
        int retval = target_read_memory(target, address, 4, 1, value_buf);
 
-       if (retval == ERROR_OK)
-       {
+       if (retval == ERROR_OK) {
                *value = target_buffer_get_u32(target, value_buf);
                LOG_DEBUG("address: 0x%8.8" PRIx32 ", value: 0x%8.8" PRIx32 "",
                                  address,
                                  *value);
-       }
-       else
-       {
+       } else {
                *value = 0x0;
                LOG_DEBUG("address: 0x%8.8" PRIx32 " failed",
                                  address);
@@ -1562,23 +1787,19 @@ int target_read_u32(struct target *target, uint32_t address, uint32_t *value)
 int target_read_u16(struct target *target, uint32_t address, uint16_t *value)
 {
        uint8_t value_buf[2];
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
 
        int retval = target_read_memory(target, address, 2, 1, value_buf);
 
-       if (retval == ERROR_OK)
-       {
+       if (retval == ERROR_OK) {
                *value = target_buffer_get_u16(target, value_buf);
                LOG_DEBUG("address: 0x%8.8" PRIx32 ", value: 0x%4.4x",
                                  address,
                                  *value);
-       }
-       else
-       {
+       } else {
                *value = 0x0;
                LOG_DEBUG("address: 0x%8.8" PRIx32 " failed",
                                  address);
@@ -1590,20 +1811,16 @@ int target_read_u16(struct target *target, uint32_t address, uint16_t *value)
 int target_read_u8(struct target *target, uint32_t address, uint8_t *value)
 {
        int retval = target_read_memory(target, address, 1, 1, value);
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
 
-       if (retval == ERROR_OK)
-       {
+       if (retval == ERROR_OK) {
                LOG_DEBUG("address: 0x%8.8" PRIx32 ", value: 0x%2.2x",
                                  address,
                                  *value);
-       }
-       else
-       {
+       } else {
                *value = 0x0;
                LOG_DEBUG("address: 0x%8.8" PRIx32 " failed",
                                  address);
@@ -1616,8 +1833,7 @@ int target_write_u32(struct target *target, uint32_t address, uint32_t value)
 {
        int retval;
        uint8_t value_buf[4];
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -1627,10 +1843,9 @@ int target_write_u32(struct target *target, uint32_t address, uint32_t value)
                          value);
 
        target_buffer_set_u32(target, value_buf, value);
-       if ((retval = target_write_memory(target, address, 4, 1, value_buf)) != ERROR_OK)
-       {
+       retval = target_write_memory(target, address, 4, 1, value_buf);
+       if (retval != ERROR_OK)
                LOG_DEBUG("failed: %i", retval);
-       }
 
        return retval;
 }
@@ -1639,8 +1854,7 @@ int target_write_u16(struct target *target, uint32_t address, uint16_t value)
 {
        int retval;
        uint8_t value_buf[2];
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -1650,10 +1864,9 @@ int target_write_u16(struct target *target, uint32_t address, uint16_t value)
                          value);
 
        target_buffer_set_u16(target, value_buf, value);
-       if ((retval = target_write_memory(target, address, 2, 1, value_buf)) != ERROR_OK)
-       {
+       retval = target_write_memory(target, address, 2, 1, value_buf);
+       if (retval != ERROR_OK)
                LOG_DEBUG("failed: %i", retval);
-       }
 
        return retval;
 }
@@ -1661,8 +1874,7 @@ int target_write_u16(struct target *target, uint32_t address, uint16_t value)
 int target_write_u8(struct target *target, uint32_t address, uint8_t value)
 {
        int retval;
-       if (!target_was_examined(target))
-       {
+       if (!target_was_examined(target)) {
                LOG_ERROR("Target not examined yet");
                return ERROR_FAIL;
        }
@@ -1670,47 +1882,52 @@ int target_write_u8(struct target *target, uint32_t address, uint8_t value)
        LOG_DEBUG("address: 0x%8.8" PRIx32 ", value: 0x%2.2x",
                          address, value);
 
-       if ((retval = target_write_memory(target, address, 1, 1, &value)) != ERROR_OK)
-       {
+       retval = target_write_memory(target, address, 1, 1, &value);
+       if (retval != ERROR_OK)
                LOG_DEBUG("failed: %i", retval);
-       }
 
        return retval;
 }
 
-COMMAND_HANDLER(handle_targets_command)
+static int find_target(struct command_context *cmd_ctx, const char *name)
 {
-       struct target *target = all_targets;
+       struct target *target = get_target(name);
+       if (target == NULL) {
+               LOG_ERROR("Target: %s is unknown, try one of:\n", name);
+               return ERROR_FAIL;
+       }
+       if (!target->tap->enabled) {
+               LOG_USER("Target: TAP %s is disabled, "
+                        "can't be the current target\n",
+                        target->tap->dotted_name);
+               return ERROR_FAIL;
+       }
 
-       if (CMD_ARGC == 1)
-       {
-               target = get_target(CMD_ARGV[0]);
-               if (target == NULL) {
-                       command_print(CMD_CTX,"Target: %s is unknown, try one of:\n", CMD_ARGV[0]);
-                       goto DumpTargets;
-               }
-               if (!target->tap->enabled) {
-                       command_print(CMD_CTX,"Target: TAP %s is disabled, "
-                                       "can't be the current target\n",
-                                       target->tap->dotted_name);
-                       return ERROR_FAIL;
-               }
+       cmd_ctx->current_target = target->target_number;
+       return ERROR_OK;
+}
 
-               CMD_CTX->current_target = target->target_number;
-               return ERROR_OK;
+
+COMMAND_HANDLER(handle_targets_command)
+{
+       int retval = ERROR_OK;
+       if (CMD_ARGC == 1) {
+               retval = find_target(CMD_CTX, CMD_ARGV[0]);
+               if (retval == ERROR_OK) {
+                       /* we're done! */
+                       return retval;
+               }
        }
-DumpTargets:
 
-       target = all_targets;
+       struct target *target = all_targets;
        command_print(CMD_CTX, "    TargetName         Type       Endian TapName            State       ");
        command_print(CMD_CTX, "--  ------------------ ---------- ------ ------------------ ------------");
-       while (target)
-       {
+       while (target) {
                const char *state;
                char marker = ' ';
 
                if (target->tap->enabled)
-                       state = target_state_name( target );
+                       state = target_state_name(target);
                else
                        state = "tap-disabled";
 
@@ -1718,19 +1935,20 @@ DumpTargets:
                        marker = '*';
 
                /* keep columns lined up to match the headers above */
-               command_print(CMD_CTX, "%2d%c %-18s %-10s %-6s %-18s %s",
-                                         target->target_number,
-                                         marker,
-                                         target_name(target),
-                                         target_type_name(target),
-                                         Jim_Nvp_value2name_simple(nvp_target_endian,
-                                                               target->endianness)->name,
-                                         target->tap->dotted_name,
-                                         state);
+               command_print(CMD_CTX,
+                               "%2d%c %-18s %-10s %-6s %-18s %s",
+                               target->target_number,
+                               marker,
+                               target_name(target),
+                               target_type_name(target),
+                               Jim_Nvp_value2name_simple(nvp_target_endian,
+                                       target->endianness)->name,
+                               target->tap->dotted_name,
+                               state);
                target = target->next;
        }
 
-       return ERROR_OK;
+       return retval;
 }
 
 /* every 300ms we check for reset & powerdropout and issue a "reset halt" if so. */
@@ -1745,53 +1963,47 @@ static int runSrstDeasserted;
 
 static int sense_handler(void)
 {
-       static int prevSrstAsserted = 0;
-       static int prevPowerdropout = 0;
+       static int prevSrstAsserted;
+       static int prevPowerdropout;
 
-       int retval;
-       if ((retval = jtag_power_dropout(&powerDropout)) != ERROR_OK)
+       int retval = jtag_power_dropout(&powerDropout);
+       if (retval != ERROR_OK)
                return retval;
 
        int powerRestored;
        powerRestored = prevPowerdropout && !powerDropout;
        if (powerRestored)
-       {
                runPowerRestore = 1;
-       }
 
        long long current = timeval_ms();
-       static long long lastPower = 0;
+       static long long lastPower;
        int waitMore = lastPower + 2000 > current;
-       if (powerDropout && !waitMore)
-       {
+       if (powerDropout && !waitMore) {
                runPowerDropout = 1;
                lastPower = current;
        }
 
-       if ((retval = jtag_srst_asserted(&srstAsserted)) != ERROR_OK)
+       retval = jtag_srst_asserted(&srstAsserted);
+       if (retval != ERROR_OK)
                return retval;
 
        int srstDeasserted;
        srstDeasserted = prevSrstAsserted && !srstAsserted;
 
-       static long long lastSrst = 0;
+       static long long lastSrst;
        waitMore = lastSrst + 2000 > current;
-       if (srstDeasserted && !waitMore)
-       {
+       if (srstDeasserted && !waitMore) {
                runSrstDeasserted = 1;
                lastSrst = current;
        }
 
        if (!prevSrstAsserted && srstAsserted)
-       {
                runSrstAsserted = 1;
-       }
 
        prevSrstAsserted = srstAsserted;
        prevPowerdropout = powerDropout;
 
-       if (srstDeasserted || powerRestored)
-       {
+       if (srstDeasserted || powerRestored) {
                /* Other than logging the event we can't do anything here.
                 * Issuing a reset is a particularly bad idea as we might
                 * be inside a reset already.
@@ -1801,22 +2013,23 @@ static int sense_handler(void)
        return ERROR_OK;
 }
 
+static int backoff_times;
+static int backoff_count;
+
 /* process target state changes */
 static int handle_target(void *priv)
 {
        Jim_Interp *interp = (Jim_Interp *)priv;
        int retval = ERROR_OK;
 
-       if (!is_jtag_poll_safe())
-       {
+       if (!is_jtag_poll_safe()) {
                /* polling is disabled currently */
                return ERROR_OK;
        }
 
        /* we do not want to recurse here... */
-       static int recursive = 0;
-       if (! recursive)
-       {
+       static int recursive;
+       if (!recursive) {
                recursive = 1;
                sense_handler();
                /* danger! running these procedures can trigger srst assertions and power dropouts.
@@ -1824,31 +2037,26 @@ static int handle_target(void *priv)
                 * clearing the flags after running these events.
                 */
                int did_something = 0;
-               if (runSrstAsserted)
-               {
+               if (runSrstAsserted) {
                        LOG_INFO("srst asserted detected, running srst_asserted proc.");
                        Jim_Eval(interp, "srst_asserted");
                        did_something = 1;
                }
-               if (runSrstDeasserted)
-               {
+               if (runSrstDeasserted) {
                        Jim_Eval(interp, "srst_deasserted");
                        did_something = 1;
                }
-               if (runPowerDropout)
-               {
+               if (runPowerDropout) {
                        LOG_INFO("Power dropout detected, running power_dropout proc.");
                        Jim_Eval(interp, "power_dropout");
                        did_something = 1;
                }
-               if (runPowerRestore)
-               {
+               if (runPowerRestore) {
                        Jim_Eval(interp, "power_restore");
                        did_something = 1;
                }
 
-               if (did_something)
-               {
+               if (did_something) {
                        /* clear detect flags */
                        sense_handler();
                }
@@ -1863,33 +2071,45 @@ static int handle_target(void *priv)
                recursive = 0;
        }
 
+       if (backoff_times > backoff_count) {
+               /* do not poll this time as we failed previously */
+               backoff_count++;
+               return ERROR_OK;
+       }
+       backoff_count = 0;
+
        /* Poll targets for state changes unless that's globally disabled.
         * Skip targets that are currently disabled.
         */
        for (struct target *target = all_targets;
                        is_jtag_poll_safe() && target;
-                       target = target->next)
-       {
+                       target = target->next) {
                if (!target->tap->enabled)
                        continue;
 
                /* only poll target if we've got power and srst isn't asserted */
-               if (!powerDropout && !srstAsserted)
-               {
+               if (!powerDropout && !srstAsserted) {
                        /* polling may fail silently until the target has been examined */
-                       if ((retval = target_poll(target)) != ERROR_OK)
-                       {
-                               /* FIX!!!!! If we add a LOG_INFO() here to output a line in GDB
-                                * *why* we are aborting GDB, then we'll spam telnet when the
-                                * poll is failing persistently.
-                                *
-                                * If we could implement an event that detected the
-                                * target going from non-pollable to pollable, we could issue
-                                * an error only upon the transition.
+                       retval = target_poll(target);
+                       if (retval != ERROR_OK) {
+                               /* 100ms polling interval. Increase interval between polling up to 5000ms */
+                               if (backoff_times * polling_interval < 5000) {
+                                       backoff_times *= 2;
+                                       backoff_times++;
+                               }
+                               LOG_USER("Polling target failed, GDB will be halted. Polling again in %dms",
+                                               backoff_times * polling_interval);
+
+                               /* Tell GDB to halt the debugger. This allows the user to
+                                * run monitor commands to handle the situation.
                                 */
                                target_call_event_callbacks(target, TARGET_EVENT_GDB_HALT);
                                return retval;
                        }
+                       /* Since we succeeded, we reset backoff count */
+                       if (backoff_times > 0)
+                               LOG_USER("Polling succeeded again");
+                       backoff_times = 0;
                }
        }
 
@@ -1908,21 +2128,18 @@ COMMAND_HANDLER(handle_reg_command)
        target = get_current_target(CMD_CTX);
 
        /* list all available registers for the current target */
-       if (CMD_ARGC == 0)
-       {
+       if (CMD_ARGC == 0) {
                struct reg_cache *cache = target->reg_cache;
 
                count = 0;
-               while (cache)
-               {
+               while (cache) {
                        unsigned i;
 
                        command_print(CMD_CTX, "===== %s", cache->name);
 
                        for (i = 0, reg = cache->reg_list;
                                        i < cache->num_regs;
-                                       i++, reg++, count++)
-                       {
+                                       i++, reg++, count++) {
                                /* only print cached values if they are valid */
                                if (reg->valid) {
                                        value = buf_to_str(reg->value,
@@ -1948,20 +2165,16 @@ COMMAND_HANDLER(handle_reg_command)
        }
 
        /* access a single register by its ordinal number */
-       if ((CMD_ARGV[0][0] >= '0') && (CMD_ARGV[0][0] <= '9'))
-       {
+       if ((CMD_ARGV[0][0] >= '0') && (CMD_ARGV[0][0] <= '9')) {
                unsigned num;
                COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], num);
 
                struct reg_cache *cache = target->reg_cache;
                count = 0;
-               while (cache)
-               {
+               while (cache) {
                        unsigned i;
-                       for (i = 0; i < cache->num_regs; i++)
-                       {
-                               if (count++ == num)
-                               {
+                       for (i = 0; i < cache->num_regs; i++) {
+                               if (count++ == num) {
                                        reg = &cache->reg_list[i];
                                        break;
                                }
@@ -1971,32 +2184,31 @@ COMMAND_HANDLER(handle_reg_command)
                        cache = cache->next;
                }
 
-               if (!reg)
-               {
-                       command_print(CMD_CTX, "%i is out of bounds, the current target has only %i registers (0 - %i)", num, count, count - 1);
+               if (!reg) {
+                       command_print(CMD_CTX, "%i is out of bounds, the current target "
+                                       "has only %i registers (0 - %i)", num, count, count - 1);
                        return ERROR_OK;
                }
-       } else /* access a single register by its name */
-       {
+       } else {
+               /* access a single register by its name */
                reg = register_get_by_name(target->reg_cache, CMD_ARGV[0], 1);
 
-               if (!reg)
-               {
+               if (!reg) {
                        command_print(CMD_CTX, "register %s not found in current target", CMD_ARGV[0]);
                        return ERROR_OK;
                }
        }
 
+       assert(reg != NULL); /* give clang a hint that we *know* reg is != NULL here */
+
        /* display a register */
-       if ((CMD_ARGC == 1) || ((CMD_ARGC == 2) && !((CMD_ARGV[1][0] >= '0') && (CMD_ARGV[1][0] <= '9'))))
-       {
+       if ((CMD_ARGC == 1) || ((CMD_ARGC == 2) && !((CMD_ARGV[1][0] >= '0')
+                       && (CMD_ARGV[1][0] <= '9')))) {
                if ((CMD_ARGC == 2) && (strcmp(CMD_ARGV[1], "force") == 0))
                        reg->valid = 0;
 
                if (reg->valid == 0)
-               {
                        reg->type->get(reg);
-               }
                value = buf_to_str(reg->value, reg->size, 16);
                command_print(CMD_CTX, "%s (/%i): 0x%s", reg->name, (int)(reg->size), value);
                free(value);
@@ -2004,9 +2216,10 @@ COMMAND_HANDLER(handle_reg_command)
        }
 
        /* set register value */
-       if (CMD_ARGC == 2)
-       {
+       if (CMD_ARGC == 2) {
                uint8_t *buf = malloc(DIV_ROUND_UP(reg->size, 8));
+               if (buf == NULL)
+                       return ERROR_FAIL;
                str_to_buf(CMD_ARGV[1], strlen(CMD_ARGV[1]), buf, reg->size, 0);
 
                reg->type->set(reg, buf);
@@ -2020,9 +2233,7 @@ COMMAND_HANDLER(handle_reg_command)
                return ERROR_OK;
        }
 
-       command_print(CMD_CTX, "usage: reg <#|name> [value]");
-
-       return ERROR_OK;
+       return ERROR_COMMAND_SYNTAX_ERROR;
 }
 
 COMMAND_HANDLER(handle_poll_command)
@@ -2030,8 +2241,7 @@ COMMAND_HANDLER(handle_poll_command)
        int retval = ERROR_OK;
        struct target *target = get_current_target(CMD_CTX);
 
-       if (CMD_ARGC == 0)
-       {
+       if (CMD_ARGC == 0) {
                command_print(CMD_CTX, "background polling: %s",
                                jtag_poll_get_enabled() ? "on" : "off");
                command_print(CMD_CTX, "TAP: %s (%s)",
@@ -2039,21 +2249,18 @@ COMMAND_HANDLER(handle_poll_command)
                                target->tap->enabled ? "enabled" : "disabled");
                if (!target->tap->enabled)
                        return ERROR_OK;
-               if ((retval = target_poll(target)) != ERROR_OK)
+               retval = target_poll(target);
+               if (retval != ERROR_OK)
                        return retval;
-               if ((retval = target_arch_state(target)) != ERROR_OK)
+               retval = target_arch_state(target);
+               if (retval != ERROR_OK)
                        return retval;
-       }
-       else if (CMD_ARGC == 1)
-       {
+       } else if (CMD_ARGC == 1) {
                bool enable;
                COMMAND_PARSE_ON_OFF(CMD_ARGV[0], enable);
                jtag_poll_set_enabled(enable);
-       }
-       else
-       {
+       } else
                return ERROR_COMMAND_SYNTAX_ERROR;
-       }
 
        return retval;
 }
@@ -2064,15 +2271,11 @@ COMMAND_HANDLER(handle_wait_halt_command)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
        unsigned ms = 5000;
-       if (1 == CMD_ARGC)
-       {
+       if (1 == CMD_ARGC) {
                int retval = parse_uint(CMD_ARGV[0], &ms);
                if (ERROR_OK != retval)
-               {
-                       command_print(CMD_CTX, "usage: %s [seconds]", CMD_NAME);
                        return ERROR_COMMAND_SYNTAX_ERROR;
-               }
-               // convert seconds (given) to milliseconds (needed)
+               /* convert seconds (given) to milliseconds (needed) */
                ms *= 1000;
        }
 
@@ -2092,32 +2295,26 @@ int target_wait_state(struct target *target, enum target_state state, int ms)
        long long then = 0, cur;
        int once = 1;
 
-       for (;;)
-       {
-               if ((retval = target_poll(target)) != ERROR_OK)
+       for (;;) {
+               retval = target_poll(target);
+               if (retval != ERROR_OK)
                        return retval;
                if (target->state == state)
-               {
                        break;
-               }
                cur = timeval_ms();
-               if (once)
-               {
+               if (once) {
                        once = 0;
                        then = timeval_ms();
                        LOG_DEBUG("waiting for target %s...",
-                               Jim_Nvp_value2name_simple(nvp_target_state,state)->name);
+                               Jim_Nvp_value2name_simple(nvp_target_state, state)->name);
                }
 
                if (cur-then > 500)
-               {
                        keep_alive();
-               }
 
-               if ((cur-then) > ms)
-               {
+               if ((cur-then) > ms) {
                        LOG_ERROR("timed out while waiting for target %s",
-                               Jim_Nvp_value2name_simple(nvp_target_state,state)->name);
+                               Jim_Nvp_value2name_simple(nvp_target_state, state)->name);
                        return ERROR_FAIL;
                }
        }
@@ -2134,13 +2331,12 @@ COMMAND_HANDLER(handle_halt_command)
        if (ERROR_OK != retval)
                return retval;
 
-       if (CMD_ARGC == 1)
-       {
-               unsigned wait;
-               retval = parse_uint(CMD_ARGV[0], &wait);
+       if (CMD_ARGC == 1) {
+               unsigned wait_local;
+               retval = parse_uint(CMD_ARGV[0], &wait_local);
                if (ERROR_OK != retval)
                        return ERROR_COMMAND_SYNTAX_ERROR;
-               if (!wait)
+               if (!wait_local)
                        return ERROR_OK;
        }
 
@@ -2164,13 +2360,11 @@ COMMAND_HANDLER(handle_reset_command)
                return ERROR_COMMAND_SYNTAX_ERROR;
 
        enum target_reset_mode reset_mode = RESET_RUN;
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                const Jim_Nvp *n;
                n = Jim_Nvp_name2value_simple(nvp_reset_modes, CMD_ARGV[0]);
-               if ((n->name == NULL) || (n->value == RESET_UNKNOWN)) {
+               if ((n->name == NULL) || (n->value == RESET_UNKNOWN))
                        return ERROR_COMMAND_SYNTAX_ERROR;
-               }
                reset_mode = n->value;
        }
 
@@ -2192,8 +2386,7 @@ COMMAND_HANDLER(handle_resume_command)
         * with one arguments, addr = CMD_ARGV[0],
         * handle breakpoints, not debugging */
        uint32_t addr = 0;
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
                current = 0;
        }
@@ -2213,8 +2406,7 @@ COMMAND_HANDLER(handle_step_command)
         * handle breakpoints, debugging */
        uint32_t addr = 0;
        int current_pc = 1;
-       if (CMD_ARGC == 1)
-       {
+       if (CMD_ARGC == 1) {
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
                current_pc = 0;
        }
@@ -2236,19 +2428,23 @@ static void handle_md_output(struct command_context *cmd_ctx,
 
        const char *value_fmt;
        switch (size) {
-       case 4: value_fmt = "%8.8x "; break;
-       case 2: value_fmt = "%4.4x "; break;
-       case 1: value_fmt = "%2.2x "; break;
+       case 4:
+               value_fmt = "%8.8x ";
+               break;
+       case 2:
+               value_fmt = "%4.4x ";
+               break;
+       case 1:
+               value_fmt = "%2.2x ";
+               break;
        default:
                /* "can't happen", caller checked */
                LOG_ERROR("invalid memory read size: %u", size);
                return;
        }
 
-       for (unsigned i = 0; i < count; i++)
-       {
-               if (i % line_modulo == 0)
-               {
+       for (unsigned i = 0; i < count; i++) {
+               if (i % line_modulo == 0) {
                        output_len += snprintf(output + output_len,
                                        sizeof(output) - output_len,
                                        "0x%8.8x: ",
@@ -2258,16 +2454,20 @@ static void handle_md_output(struct command_context *cmd_ctx,
                uint32_t value = 0;
                const uint8_t *value_ptr = buffer + i * size;
                switch (size) {
-               case 4: value = target_buffer_get_u32(target, value_ptr); break;
-               case 2: value = target_buffer_get_u16(target, value_ptr); break;
-               case 1: value = *value_ptr;
+               case 4:
+                       value = target_buffer_get_u32(target, value_ptr);
+                       break;
+               case 2:
+                       value = target_buffer_get_u16(target, value_ptr);
+                       break;
+               case 1:
+                       value = *value_ptr;
                }
                output_len += snprintf(output + output_len,
                                sizeof(output) - output_len,
                                value_fmt, value);
 
-               if ((i % line_modulo == line_modulo - 1) || (i == count - 1))
-               {
+               if ((i % line_modulo == line_modulo - 1) || (i == count - 1)) {
                        command_print(cmd_ctx, "%s", output);
                        output_len = 0;
                }
@@ -2281,28 +2481,30 @@ COMMAND_HANDLER(handle_md_command)
 
        unsigned size = 0;
        switch (CMD_NAME[2]) {
-       case 'w': size = 4; break;
-       case 'h': size = 2; break;
-       case 'b': size = 1; break;
-       default: return ERROR_COMMAND_SYNTAX_ERROR;
+       case 'w':
+               size = 4;
+               break;
+       case 'h':
+               size = 2;
+               break;
+       case 'b':
+               size = 1;
+               break;
+       default:
+               return ERROR_COMMAND_SYNTAX_ERROR;
        }
 
-       bool physical=strcmp(CMD_ARGV[0], "phys")==0;
+       bool physical = strcmp(CMD_ARGV[0], "phys") == 0;
        int (*fn)(struct target *target,
-                       uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer);
-       if (physical)
-       {
+                       uint32_t address, uint32_t size_value, uint32_t count, uint8_t *buffer);
+       if (physical) {
                CMD_ARGC--;
                CMD_ARGV++;
-               fn=target_read_phys_memory;
+               fn = target_read_phys_memory;
        } else
-       {
-               fn=target_read_memory;
-       }
+               fn = target_read_memory;
        if ((CMD_ARGC < 1) || (CMD_ARGC > 2))
-       {
                return ERROR_COMMAND_SYNTAX_ERROR;
-       }
 
        uint32_t address;
        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], address);
@@ -2324,10 +2526,10 @@ COMMAND_HANDLER(handle_md_command)
 }
 
 typedef int (*target_write_fn)(struct target *target,
-               uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer);
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer);
 
 static int target_write_memory_fast(struct target *target,
-               uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer)
+               uint32_t address, uint32_t size, uint32_t count, const uint8_t *buffer)
 {
        return target_write_buffer(target, address, size * count, buffer);
 }
@@ -2345,24 +2547,21 @@ static int target_fill_mem(struct target *target,
         * to fill large memory areas with any sane speed */
        const unsigned chunk_size = 16384;
        uint8_t *target_buf = malloc(chunk_size * data_size);
-       if (target_buf == NULL)
-       {
+       if (target_buf == NULL) {
                LOG_ERROR("Out of memory");
                return ERROR_FAIL;
        }
 
-       for (unsigned i = 0; i < chunk_size; i ++)
-       {
-               switch (data_size)
-               {
+       for (unsigned i = 0; i < chunk_size; i++) {
+               switch (data_size) {
                case 4:
-                       target_buffer_set_u32(target, target_buf + i*data_size, b);
+                       target_buffer_set_u32(target, target_buf + i * data_size, b);
                        break;
                case 2:
-                       target_buffer_set_u16(target, target_buf + i*data_size, b);
+                       target_buffer_set_u16(target, target_buf + i * data_size, b);
                        break;
                case 1:
-                       target_buffer_set_u8(target, target_buf + i*data_size, b);
+                       target_buffer_set_u8(target, target_buf + i * data_size, b);
                        break;
                default:
                        exit(-1);
@@ -2371,19 +2570,14 @@ static int target_fill_mem(struct target *target,
 
        int retval = ERROR_OK;
 
-       for (unsigned x = 0; x < c; x += chunk_size)
-       {
+       for (unsigned x = 0; x < c; x += chunk_size) {
                unsigned current;
                current = c - x;
                if (current > chunk_size)
-               {
                        current = chunk_size;
-               }
-               int retval = fn(target, address + x * data_size, data_size, current, target_buf);
+               retval = fn(target, address + x * data_size, data_size, current, target_buf);
                if (retval != ERROR_OK)
-               {
                        break;
-               }
                /* avoid GDB timeouts */
                keep_alive();
        }
@@ -2396,20 +2590,15 @@ static int target_fill_mem(struct target *target,
 COMMAND_HANDLER(handle_mw_command)
 {
        if (CMD_ARGC < 2)
-       {
                return ERROR_COMMAND_SYNTAX_ERROR;
-       }
-       bool physical=strcmp(CMD_ARGV[0], "phys")==0;
+       bool physical = strcmp(CMD_ARGV[0], "phys") == 0;
        target_write_fn fn;
-       if (physical)
-       {
+       if (physical) {
                CMD_ARGC--;
                CMD_ARGV++;
-               fn=target_write_phys_memory;
+               fn = target_write_phys_memory;
        } else
-       {
                fn = target_write_memory_fast;
-       }
        if ((CMD_ARGC < 2) || (CMD_ARGC > 3))
                return ERROR_COMMAND_SYNTAX_ERROR;
 
@@ -2425,8 +2614,7 @@ COMMAND_HANDLER(handle_mw_command)
 
        struct target *target = get_current_target(CMD_CTX);
        unsigned wordsize;
-       switch (CMD_NAME[2])
-       {
+       switch (CMD_NAME[2]) {
                case 'w':
                        wordsize = 4;
                        break;
@@ -2451,26 +2639,21 @@ static COMMAND_HELPER(parse_load_image_command_CMD_ARGV, struct image *image,
 
        /* a base address isn't always necessary,
         * default to 0x0 (i.e. don't relocate) */
-       if (CMD_ARGC >= 2)
-       {
+       if (CMD_ARGC >= 2) {
                uint32_t addr;
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], addr);
                image->base_address = addr;
                image->base_address_set = 1;
-       }
-       else
+       } else
                image->base_address_set = 0;
 
        image->start_address_set = 0;
 
        if (CMD_ARGC >= 4)
-       {
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[3], *min_address);
-       }
-       if (CMD_ARGC == 5)
-       {
+       if (CMD_ARGC == 5) {
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[4], *max_address);
-               // use size (given) to find max (required)
+               /* use size (given) to find max (required) */
                *max_address += *min_address;
        }
 
@@ -2501,25 +2684,21 @@ COMMAND_HANDLER(handle_load_image_command)
        duration_start(&bench);
 
        if (image_open(&image, CMD_ARGV[0], (CMD_ARGC >= 3) ? CMD_ARGV[2] : NULL) != ERROR_OK)
-       {
                return ERROR_OK;
-       }
 
        image_size = 0x0;
        retval = ERROR_OK;
-       for (i = 0; i < image.num_sections; i++)
-       {
+       for (i = 0; i < image.num_sections; i++) {
                buffer = malloc(image.sections[i].size);
-               if (buffer == NULL)
-               {
+               if (buffer == NULL) {
                        command_print(CMD_CTX,
                                                  "error allocating buffer for section (%d bytes)",
                                                  (int)(image.sections[i].size));
                        break;
                }
 
-               if ((retval = image_read_section(&image, i, 0x0, image.sections[i].size, buffer, &buf_cnt)) != ERROR_OK)
-               {
+               retval = image_read_section(&image, i, 0x0, image.sections[i].size, buffer, &buf_cnt);
+               if (retval != ERROR_OK) {
                        free(buffer);
                        break;
                }
@@ -2529,39 +2708,36 @@ COMMAND_HANDLER(handle_load_image_command)
 
                /* DANGER!!! beware of unsigned comparision here!!! */
 
-               if ((image.sections[i].base_address + buf_cnt >= min_address)&&
-                               (image.sections[i].base_address < max_address))
-               {
-                       if (image.sections[i].base_address < min_address)
-                       {
+               if ((image.sections[i].base_address + buf_cnt >= min_address) &&
+                               (image.sections[i].base_address < max_address)) {
+
+                       if (image.sections[i].base_address < min_address) {
                                /* clip addresses below */
                                offset += min_address-image.sections[i].base_address;
                                length -= offset;
                        }
 
                        if (image.sections[i].base_address + buf_cnt > max_address)
-                       {
                                length -= (image.sections[i].base_address + buf_cnt)-max_address;
-                       }
 
-                       if ((retval = target_write_buffer(target, image.sections[i].base_address + offset, length, buffer + offset)) != ERROR_OK)
-                       {
+                       retval = target_write_buffer(target,
+                                       image.sections[i].base_address + offset, length, buffer + offset);
+                       if (retval != ERROR_OK) {
                                free(buffer);
                                break;
                        }
                        image_size += length;
                        command_print(CMD_CTX, "%u bytes written at address 0x%8.8" PRIx32 "",
-                                                 (unsigned int)length,
-                                                 image.sections[i].base_address + offset);
+                                       (unsigned int)length,
+                                       image.sections[i].base_address + offset);
                }
 
                free(buffer);
        }
 
-       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
-       {
+       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK)) {
                command_print(CMD_CTX, "downloaded %" PRIu32 " bytes "
-                               "in %fs (%0.3f kb/s)", image_size,
+                               "in %fs (%0.3f KiB/s)", image_size,
                                duration_elapsed(&bench), duration_kbps(&bench, image_size));
        }
 
@@ -2574,63 +2750,62 @@ COMMAND_HANDLER(handle_load_image_command)
 COMMAND_HANDLER(handle_dump_image_command)
 {
        struct fileio fileio;
-
-       uint8_t buffer[560];
-       int retvaltemp;
-
-
+       uint8_t *buffer;
+       int retval, retvaltemp;
+       uint32_t address, size;
+       struct duration bench;
        struct target *target = get_current_target(CMD_CTX);
 
        if (CMD_ARGC != 3)
-       {
-               command_print(CMD_CTX, "usage: dump_image <filename> <address> <size>");
-               return ERROR_OK;
-       }
+               return ERROR_COMMAND_SYNTAX_ERROR;
 
-       uint32_t address;
        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], address);
-       uint32_t size;
        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[2], size);
 
-       if (fileio_open(&fileio, CMD_ARGV[0], FILEIO_WRITE, FILEIO_BINARY) != ERROR_OK)
-       {
-               return ERROR_OK;
+       uint32_t buf_size = (size > 4096) ? 4096 : size;
+       buffer = malloc(buf_size);
+       if (!buffer)
+               return ERROR_FAIL;
+
+       retval = fileio_open(&fileio, CMD_ARGV[0], FILEIO_WRITE, FILEIO_BINARY);
+       if (retval != ERROR_OK) {
+               free(buffer);
+               return retval;
        }
 
-       struct duration bench;
        duration_start(&bench);
 
-       int retval = ERROR_OK;
-       while (size > 0)
-       {
+       while (size > 0) {
                size_t size_written;
-               uint32_t this_run_size = (size > 560) ? 560 : size;
+               uint32_t this_run_size = (size > buf_size) ? buf_size : size;
                retval = target_read_buffer(target, address, this_run_size, buffer);
                if (retval != ERROR_OK)
-               {
                        break;
-               }
 
                retval = fileio_write(&fileio, this_run_size, buffer, &size_written);
                if (retval != ERROR_OK)
-               {
                        break;
-               }
 
                size -= this_run_size;
                address += this_run_size;
        }
 
-       if ((retvaltemp = fileio_close(&fileio)) != ERROR_OK)
-               return retvaltemp;
+       free(buffer);
 
-       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
-       {
+       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK)) {
+               int filesize;
+               retval = fileio_size(&fileio, &filesize);
+               if (retval != ERROR_OK)
+                       return retval;
                command_print(CMD_CTX,
-                               "dumped %ld bytes in %fs (%0.3f kb/s)", (long)fileio.size,
-                               duration_elapsed(&bench), duration_kbps(&bench, fileio.size));
+                               "dumped %ld bytes in %fs (%0.3f KiB/s)", (long)filesize,
+                               duration_elapsed(&bench), duration_kbps(&bench, filesize));
        }
 
+       retvaltemp = fileio_close(&fileio);
+       if (retvaltemp != ERROR_OK)
+               return retvaltemp;
+
        return retval;
 }
 
@@ -2649,12 +2824,9 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
        struct target *target = get_current_target(CMD_CTX);
 
        if (CMD_ARGC < 1)
-       {
                return ERROR_COMMAND_SYNTAX_ERROR;
-       }
 
-       if (!target)
-       {
+       if (!target) {
                LOG_ERROR("no target selected");
                return ERROR_FAIL;
        }
@@ -2662,102 +2834,93 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
        struct duration bench;
        duration_start(&bench);
 
-       if (CMD_ARGC >= 2)
-       {
+       if (CMD_ARGC >= 2) {
                uint32_t addr;
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], addr);
                image.base_address = addr;
                image.base_address_set = 1;
-       }
-       else
-       {
+       } else {
                image.base_address_set = 0;
                image.base_address = 0x0;
        }
 
        image.start_address_set = 0;
 
-       if ((retval = image_open(&image, CMD_ARGV[0], (CMD_ARGC == 3) ? CMD_ARGV[2] : NULL)) != ERROR_OK)
-       {
+       retval = image_open(&image, CMD_ARGV[0], (CMD_ARGC == 3) ? CMD_ARGV[2] : NULL);
+       if (retval != ERROR_OK)
                return retval;
-       }
 
        image_size = 0x0;
+       int diffs = 0;
        retval = ERROR_OK;
-       for (i = 0; i < image.num_sections; i++)
-       {
+       for (i = 0; i < image.num_sections; i++) {
                buffer = malloc(image.sections[i].size);
-               if (buffer == NULL)
-               {
+               if (buffer == NULL) {
                        command_print(CMD_CTX,
-                                                 "error allocating buffer for section (%d bytes)",
-                                                 (int)(image.sections[i].size));
+                                       "error allocating buffer for section (%d bytes)",
+                                       (int)(image.sections[i].size));
                        break;
                }
-               if ((retval = image_read_section(&image, i, 0x0, image.sections[i].size, buffer, &buf_cnt)) != ERROR_OK)
-               {
+               retval = image_read_section(&image, i, 0x0, image.sections[i].size, buffer, &buf_cnt);
+               if (retval != ERROR_OK) {
                        free(buffer);
                        break;
                }
 
-               if (verify)
-               {
+               if (verify) {
                        /* calculate checksum of image */
-                       image_calculate_checksum(buffer, buf_cnt, &checksum);
+                       retval = image_calculate_checksum(buffer, buf_cnt, &checksum);
+                       if (retval != ERROR_OK) {
+                               free(buffer);
+                               break;
+                       }
 
                        retval = target_checksum_memory(target, image.sections[i].base_address, buf_cnt, &mem_checksum);
-                       if (retval != ERROR_OK)
-                       {
+                       if (retval != ERROR_OK) {
                                free(buffer);
                                break;
                        }
 
-                       if (checksum != mem_checksum)
-                       {
+                       if (checksum != mem_checksum) {
                                /* failed crc checksum, fall back to a binary compare */
                                uint8_t *data;
 
-                               command_print(CMD_CTX, "checksum mismatch - attempting binary compare");
+                               if (diffs == 0)
+                                       LOG_ERROR("checksum mismatch - attempting binary compare");
 
-                               data = (uint8_t*)malloc(buf_cnt);
+                               data = (uint8_t *)malloc(buf_cnt);
 
                                /* Can we use 32bit word accesses? */
                                int size = 1;
                                int count = buf_cnt;
-                               if ((count % 4) == 0)
-                               {
+                               if ((count % 4) == 0) {
                                        size *= 4;
                                        count /= 4;
                                }
                                retval = target_read_memory(target, image.sections[i].base_address, size, count, data);
-                               if (retval == ERROR_OK)
-                               {
+                               if (retval == ERROR_OK) {
                                        uint32_t t;
-                                       for (t = 0; t < buf_cnt; t++)
-                                       {
-                                               if (data[t] != buffer[t])
-                                               {
+                                       for (t = 0; t < buf_cnt; t++) {
+                                               if (data[t] != buffer[t]) {
                                                        command_print(CMD_CTX,
-                                                                                 "Verify operation failed address 0x%08x. Was 0x%02x instead of 0x%02x\n",
+                                                                                 "diff %d address 0x%08x. Was 0x%02x instead of 0x%02x",
+                                                                                 diffs,
                                                                                  (unsigned)(t + image.sections[i].base_address),
                                                                                  data[t],
                                                                                  buffer[t]);
-                                                       free(data);
-                                                       free(buffer);
-                                                       retval = ERROR_FAIL;
-                                                       goto done;
-                                               }
-                                               if ((t%16384) == 0)
-                                               {
-                                                       keep_alive();
+                                                       if (diffs++ >= 127) {
+                                                               command_print(CMD_CTX, "More than 128 errors, the rest are not printed.");
+                                                               free(data);
+                                                               free(buffer);
+                                                               goto done;
+                                                       }
                                                }
+                                               keep_alive();
                                        }
                                }
-
                                free(data);
                        }
-               } else
-               {
+               } else {
                        command_print(CMD_CTX, "address 0x%08" PRIx32 " length 0x%08zx",
                                                  image.sections[i].base_address,
                                                  buf_cnt);
@@ -2766,11 +2929,14 @@ static COMMAND_HELPER(handle_verify_image_command_internal, int verify)
                free(buffer);
                image_size += buf_cnt;
        }
+       if (diffs > 0)
+               command_print(CMD_CTX, "No more differences found.");
 done:
-       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
-       {
+       if (diffs > 0)
+               retval = ERROR_FAIL;
+       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK)) {
                command_print(CMD_CTX, "verified %" PRIu32 " bytes "
-                               "in %fs (%0.3f kb/s)", image_size,
+                               "in %fs (%0.3f KiB/s)", image_size,
                                duration_elapsed(&bench), duration_kbps(&bench, image_size));
        }
 
@@ -2793,23 +2959,30 @@ static int handle_bp_command_list(struct command_context *cmd_ctx)
 {
        struct target *target = get_current_target(cmd_ctx);
        struct breakpoint *breakpoint = target->breakpoints;
-       while (breakpoint)
-       {
-               if (breakpoint->type == BKPT_SOFT)
-               {
-                       char* buf = buf_to_str(breakpoint->orig_instr,
+       while (breakpoint) {
+               if (breakpoint->type == BKPT_SOFT) {
+                       char *buf = buf_to_str(breakpoint->orig_instr,
                                        breakpoint->length, 16);
-                       command_print(cmd_ctx, "0x%8.8" PRIx32 ", 0x%x, %i, 0x%s",
+                       command_print(cmd_ctx, "IVA breakpoint: 0x%8.8" PRIx32 ", 0x%x, %i, 0x%s",
                                        breakpoint->address,
                                        breakpoint->length,
                                        breakpoint->set, buf);
                        free(buf);
-               }
-               else
-               {
-                       command_print(cmd_ctx, "0x%8.8" PRIx32 ", 0x%x, %i",
-                                                 breakpoint->address,
-                                                 breakpoint->length, breakpoint->set);
+               } else {
+                       if ((breakpoint->address == 0) && (breakpoint->asid != 0))
+                               command_print(cmd_ctx, "Context breakpoint: 0x%8.8" PRIx32 ", 0x%x, %i",
+                                                       breakpoint->asid,
+                                                       breakpoint->length, breakpoint->set);
+                       else if ((breakpoint->address != 0) && (breakpoint->asid != 0)) {
+                               command_print(cmd_ctx, "Hybrid breakpoint(IVA): 0x%8.8" PRIx32 ", 0x%x, %i",
+                                                       breakpoint->address,
+                                                       breakpoint->length, breakpoint->set);
+                               command_print(cmd_ctx, "\t|--->linked with ContextID: 0x%8.8" PRIx32,
+                                                       breakpoint->asid);
+                       } else
+                               command_print(cmd_ctx, "Breakpoint(IVA): 0x%8.8" PRIx32 ", 0x%x, %i",
+                                                       breakpoint->address,
+                                                       breakpoint->length, breakpoint->set);
                }
 
                breakpoint = breakpoint->next;
@@ -2818,43 +2991,82 @@ static int handle_bp_command_list(struct command_context *cmd_ctx)
 }
 
 static int handle_bp_command_set(struct command_context *cmd_ctx,
-               uint32_t addr, uint32_t length, int hw)
+               uint32_t addr, uint32_t asid, uint32_t length, int hw)
 {
        struct target *target = get_current_target(cmd_ctx);
-       int retval = breakpoint_add(target, addr, length, hw);
-       if (ERROR_OK == retval)
-               command_print(cmd_ctx, "breakpoint set at 0x%8.8" PRIx32 "", addr);
-       else
-               LOG_ERROR("Failure setting breakpoint");
-       return retval;
+
+       if (asid == 0) {
+               int retval = breakpoint_add(target, addr, length, hw);
+               if (ERROR_OK == retval)
+                       command_print(cmd_ctx, "breakpoint set at 0x%8.8" PRIx32 "", addr);
+               else {
+                       LOG_ERROR("Failure setting breakpoint, the same address(IVA) is already used");
+                       return retval;
+               }
+       } else if (addr == 0) {
+               int retval = context_breakpoint_add(target, asid, length, hw);
+               if (ERROR_OK == retval)
+                       command_print(cmd_ctx, "Context breakpoint set at 0x%8.8" PRIx32 "", asid);
+               else {
+                       LOG_ERROR("Failure setting breakpoint, the same address(CONTEXTID) is already used");
+                       return retval;
+               }
+       } else {
+               int retval = hybrid_breakpoint_add(target, addr, asid, length, hw);
+               if (ERROR_OK == retval)
+                       command_print(cmd_ctx, "Hybrid breakpoint set at 0x%8.8" PRIx32 "", asid);
+               else {
+                       LOG_ERROR("Failure setting breakpoint, the same address is already used");
+                       return retval;
+               }
+       }
+       return ERROR_OK;
 }
 
 COMMAND_HANDLER(handle_bp_command)
 {
-       if (CMD_ARGC == 0)
-               return handle_bp_command_list(CMD_CTX);
-
-       if (CMD_ARGC < 2 || CMD_ARGC > 3)
-       {
-               command_print(CMD_CTX, "usage: bp <address> <length> ['hw']");
-               return ERROR_COMMAND_SYNTAX_ERROR;
-       }
-
        uint32_t addr;
-       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
+       uint32_t asid;
        uint32_t length;
-       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
-
        int hw = BKPT_SOFT;
-       if (CMD_ARGC == 3)
-       {
-               if (strcmp(CMD_ARGV[2], "hw") == 0)
+
+       switch (CMD_ARGC) {
+               case 0:
+                       return handle_bp_command_list(CMD_CTX);
+
+               case 2:
+                       asid = 0;
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
+                       return handle_bp_command_set(CMD_CTX, addr, asid, length, hw);
+
+               case 3:
+                       if (strcmp(CMD_ARGV[2], "hw") == 0) {
+                               hw = BKPT_HARD;
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
+
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
+
+                               asid = 0;
+                               return handle_bp_command_set(CMD_CTX, addr, asid, length, hw);
+                       } else if (strcmp(CMD_ARGV[2], "hw_ctx") == 0) {
+                               hw = BKPT_HARD;
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], asid);
+                               COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
+                               addr = 0;
+                               return handle_bp_command_set(CMD_CTX, addr, asid, length, hw);
+                       }
+
+               case 4:
                        hw = BKPT_HARD;
-               else
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], asid);
+                       COMMAND_PARSE_NUMBER(u32, CMD_ARGV[2], length);
+                       return handle_bp_command_set(CMD_CTX, addr, asid, length, hw);
+
+               default:
                        return ERROR_COMMAND_SYNTAX_ERROR;
        }
-
-       return handle_bp_command_set(CMD_CTX, addr, length, hw);
 }
 
 COMMAND_HANDLER(handle_rbp_command)
@@ -2875,12 +3087,10 @@ COMMAND_HANDLER(handle_wp_command)
 {
        struct target *target = get_current_target(CMD_CTX);
 
-       if (CMD_ARGC == 0)
-       {
+       if (CMD_ARGC == 0) {
                struct watchpoint *watchpoint = target->watchpoints;
 
-               while (watchpoint)
-               {
+               while (watchpoint) {
                        command_print(CMD_CTX, "address: 0x%8.8" PRIx32
                                        ", len: 0x%8.8" PRIx32
                                        ", r/w/a: %i, value: 0x%8.8" PRIx32
@@ -2901,17 +3111,15 @@ COMMAND_HANDLER(handle_wp_command)
        uint32_t data_value = 0x0;
        uint32_t data_mask = 0xffffffff;
 
-       switch (CMD_ARGC)
-       {
+       switch (CMD_ARGC) {
        case 5:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[4], data_mask);
-               // fall through
+               /* fall through */
        case 4:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[3], data_value);
-               // fall through
+               /* fall through */
        case 3:
-               switch (CMD_ARGV[2][0])
-               {
+               switch (CMD_ARGV[2][0]) {
                case 'r':
                        type = WPT_READ;
                        break;
@@ -2925,15 +3133,13 @@ COMMAND_HANDLER(handle_wp_command)
                        LOG_ERROR("invalid watchpoint mode ('%c')", CMD_ARGV[2][0]);
                        return ERROR_COMMAND_SYNTAX_ERROR;
                }
-               // fall through
+               /* fall through */
        case 2:
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], length);
                COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], addr);
                break;
 
        default:
-               command_print(CMD_CTX, "usage: wp [address length "
-                               "[(r|w|a) [value [mask]]]]");
                return ERROR_COMMAND_SYNTAX_ERROR;
        }
 
@@ -2959,7 +3165,6 @@ COMMAND_HANDLER(handle_rwp_command)
        return ERROR_OK;
 }
 
-
 /**
  * Translate a virtual address to a physical address.
  *
@@ -2993,8 +3198,7 @@ static void writeData(FILE *f, const void *data, size_t len)
 static void writeLong(FILE *f, int l)
 {
        int i;
-       for (i = 0; i < 4; i++)
-       {
+       for (i = 0; i < 4; i++) {
                char c = (l >> (i*8))&0xff;
                writeData(f, &c, 1);
        }
@@ -3025,48 +3229,40 @@ static void writeGmon(uint32_t *samples, uint32_t sampleNum, const char *filenam
        /* figure out bucket size */
        uint32_t min = samples[0];
        uint32_t max = samples[0];
-       for (i = 0; i < sampleNum; i++)
-       {
+       for (i = 0; i < sampleNum; i++) {
                if (min > samples[i])
-               {
                        min = samples[i];
-               }
                if (max < samples[i])
-               {
                        max = samples[i];
-               }
        }
 
-       int addressSpace = (max-min + 1);
+       int addressSpace = (max - min + 1);
+       assert(addressSpace >= 2);
 
-       static const uint32_t maxBuckets = 256 * 1024; /* maximum buckets. */
+       static const uint32_t maxBuckets = 16 * 1024; /* maximum buckets. */
        uint32_t length = addressSpace;
        if (length > maxBuckets)
-       {
                length = maxBuckets;
-       }
        int *buckets = malloc(sizeof(int)*length);
-       if (buckets == NULL)
-       {
+       if (buckets == NULL) {
                fclose(f);
                return;
        }
-       memset(buckets, 0, sizeof(int)*length);
-       for (i = 0; i < sampleNum;i++)
-       {
+       memset(buckets, 0, sizeof(int) * length);
+       for (i = 0; i < sampleNum; i++) {
                uint32_t address = samples[i];
-               long long a = address-min;
-               long long b = length-1;
-               long long c = addressSpace-1;
-               int index = (a*b)/c; /* danger!!!! int32 overflows */
-               buckets[index]++;
+               long long a = address - min;
+               long long b = length - 1;
+               long long c = addressSpace - 1;
+               int index_t = (a * b) / c; /* danger!!!! int32 overflows */
+               buckets[index_t]++;
        }
 
        /* append binary memory gmon.out &profile_hist_hdr ((char*)&profile_hist_hdr + sizeof(struct gmon_hist_hdr)) */
-       writeLong(f, min);                      /* low_pc */
+       writeLong(f, min);                      /* low_pc */
        writeLong(f, max);                      /* high_pc */
        writeLong(f, length);           /* # of samples */
-       writeLong(f, 64000000);         /* 64MHz */
+       writeLong(f, 100);                      /* KLUDGE! We lie, ca. 100Hz best case. */
        writeString(f, "seconds");
        for (i = 0; i < (15-strlen("seconds")); i++)
                writeData(f, &zero, 1);
@@ -3074,27 +3270,21 @@ static void writeGmon(uint32_t *samples, uint32_t sampleNum, const char *filenam
 
        /*append binary memory gmon.out profile_hist_data (profile_hist_data + profile_hist_hdr.hist_size) */
 
-       char *data = malloc(2*length);
-       if (data != NULL)
-       {
-               for (i = 0; i < length;i++)
-               {
+       char *data = malloc(2 * length);
+       if (data != NULL) {
+               for (i = 0; i < length; i++) {
                        int val;
                        val = buckets[i];
                        if (val > 65535)
-                       {
                                val = 65535;
-                       }
-                       data[i*2]=val&0xff;
-                       data[i*2 + 1]=(val >> 8)&0xff;
+                       data[i * 2] = val&0xff;
+                       data[i * 2 + 1] = (val >> 8) & 0xff;
                }
                free(buckets);
                writeData(f, data, length * 2);
                free(data);
        } else
-       {
                free(buckets);
-       }
 
        fclose(f);
 }
@@ -3108,9 +3298,7 @@ COMMAND_HANDLER(handle_profile_command)
 
        gettimeofday(&timeout, NULL);
        if (CMD_ARGC != 2)
-       {
                return ERROR_COMMAND_SYNTAX_ERROR;
-       }
        unsigned offset;
        COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], offset);
 
@@ -3133,51 +3321,47 @@ COMMAND_HANDLER(handle_profile_command)
        /* hopefully it is safe to cache! We want to stop/restart as quickly as possible. */
        struct reg *reg = register_get_by_name(target->reg_cache, "pc", 1);
 
-       for (;;)
-       {
-               int retval;
+       int retval = ERROR_OK;
+       for (;;) {
                target_poll(target);
-               if (target->state == TARGET_HALTED)
-               {
-                       uint32_t t=*((uint32_t *)reg->value);
-                       samples[numSamples++]=t;
-                       retval = target_resume(target, 1, 0, 0, 0); /* current pc, addr = 0, do not handle breakpoints, not debugging */
+               if (target->state == TARGET_HALTED) {
+                       uint32_t t = *((uint32_t *)reg->value);
+                       samples[numSamples++] = t;
+                       /* current pc, addr = 0, do not handle breakpoints, not debugging */
+                       retval = target_resume(target, 1, 0, 0, 0);
                        target_poll(target);
                        alive_sleep(10); /* sleep 10ms, i.e. <100 samples/second. */
-               } else if (target->state == TARGET_RUNNING)
-               {
+               } else if (target->state == TARGET_RUNNING) {
                        /* We want to quickly sample the PC. */
-                       if ((retval = target_halt(target)) != ERROR_OK)
-                       {
+                       retval = target_halt(target);
+                       if (retval != ERROR_OK) {
                                free(samples);
                                return retval;
                        }
-               } else
-               {
+               } else {
                        command_print(CMD_CTX, "Target not halted or running");
                        retval = ERROR_OK;
                        break;
                }
                if (retval != ERROR_OK)
-               {
                        break;
-               }
 
                gettimeofday(&now, NULL);
-               if ((numSamples >= maxSample) || ((now.tv_sec >= timeout.tv_sec) && (now.tv_usec >= timeout.tv_usec)))
-               {
+               if ((numSamples >= maxSample) || ((now.tv_sec >= timeout.tv_sec)
+                               && (now.tv_usec >= timeout.tv_usec))) {
                        command_print(CMD_CTX, "Profiling completed. %d samples.", numSamples);
-                       if ((retval = target_poll(target)) != ERROR_OK)
-                       {
+                       retval = target_poll(target);
+                       if (retval != ERROR_OK) {
                                free(samples);
                                return retval;
                        }
-                       if (target->state == TARGET_HALTED)
-                       {
-                               target_resume(target, 1, 0, 0, 0); /* current pc, addr = 0, do not handle breakpoints, not debugging */
+                       if (target->state == TARGET_HALTED) {
+                               /* current pc, addr = 0, do not handle
+                                * breakpoints, not debugging */
+                               target_resume(target, 1, 0, 0, 0);
                        }
-                       if ((retval = target_poll(target)) != ERROR_OK)
-                       {
+                       retval = target_poll(target);
+                       if (retval != ERROR_OK) {
                                free(samples);
                                return retval;
                        }
@@ -3188,10 +3372,10 @@ COMMAND_HANDLER(handle_profile_command)
        }
        free(samples);
 
-       return ERROR_OK;
+       return retval;
 }
 
-static int new_int_array_element(Jim_Interp * interp, const char *varname, int idx, uint32_t val)
+static int new_int_array_element(Jim_Interp *interp, const char *varname, int idx, uint32_t val)
 {
        char *namebuf;
        Jim_Obj *nameObjPtr, *valObjPtr;
@@ -3203,8 +3387,7 @@ static int new_int_array_element(Jim_Interp * interp, const char *varname, int i
 
        nameObjPtr = Jim_NewStringObj(interp, namebuf, -1);
        valObjPtr = Jim_NewIntObj(interp, val);
-       if (!nameObjPtr || !valObjPtr)
-       {
+       if (!nameObjPtr || !valObjPtr) {
                free(namebuf);
                return JIM_ERR;
        }
@@ -3224,20 +3407,16 @@ static int jim_mem2array(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        struct command_context *context;
        struct target *target;
 
-       context = Jim_GetAssocData(interp, "context");
-       if (context == NULL)
-       {
-               LOG_ERROR("mem2array: no command context");
-               return JIM_ERR;
-       }
+       context = current_command_context(interp);
+       assert(context != NULL);
+
        target = get_current_target(context);
-       if (target == NULL)
-       {
+       if (target == NULL) {
                LOG_ERROR("mem2array: no current target");
                return JIM_ERR;
        }
 
-       return  target_mem2array(interp, target, argc-1, argv + 1);
+       return target_mem2array(interp, target, argc - 1, argv + 1);
 }
 
 static int target_mem2array(Jim_Interp *interp, struct target *target, int argc, Jim_Obj *const *argv)
@@ -3266,20 +3445,17 @@ static int target_mem2array(Jim_Interp *interp, struct target *target, int argc,
 
        e = Jim_GetLong(interp, argv[1], &l);
        width = l;
-       if (e != JIM_OK) {
+       if (e != JIM_OK)
                return e;
-       }
 
        e = Jim_GetLong(interp, argv[2], &l);
        addr = l;
-       if (e != JIM_OK) {
+       if (e != JIM_OK)
                return e;
-       }
        e = Jim_GetLong(interp, argv[3], &l);
        len = l;
-       if (e != JIM_OK) {
+       if (e != JIM_OK)
                return e;
-       }
        switch (width) {
                case 8:
                        width = 1;
@@ -3342,9 +3518,8 @@ static int target_mem2array(Jim_Interp *interp, struct target *target, int argc,
                /* Slurp... in buffer size chunks */
 
                count = len; /* in objects.. */
-               if (count > (buffersize/width)) {
-                       count = (buffersize/width);
-               }
+               if (count > (buffersize / width))
+                       count = (buffersize / width);
 
                retval = target_read_memory(target, addr, width, count, buffer);
                if (retval != ERROR_OK) {
@@ -3356,10 +3531,10 @@ static int target_mem2array(Jim_Interp *interp, struct target *target, int argc,
                        Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
                        Jim_AppendStrings(interp, Jim_GetResult(interp), "mem2array: cannot read memory", NULL);
                        e = JIM_ERR;
-                       len = 0;
+                       break;
                } else {
                        v = 0; /* shut up gcc */
-                       for (i = 0 ;i < count ;i++, n++) {
+                       for (i = 0; i < count ; i++, n++) {
                                switch (width) {
                                        case 4:
                                                v = target_buffer_get_u32(target, &buffer[i*width]);
@@ -3381,10 +3556,10 @@ static int target_mem2array(Jim_Interp *interp, struct target *target, int argc,
 
        Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
 
-       return JIM_OK;
+       return e;
 }
 
-static int get_int_array_element(Jim_Interp * interp, const char *varname, int idx, uint32_t *val)
+static int get_int_array_element(Jim_Interp *interp, const char *varname, int idx, uint32_t *val)
 {
        char *namebuf;
        Jim_Obj *nameObjPtr, *valObjPtr;
@@ -3396,8 +3571,7 @@ static int get_int_array_element(Jim_Interp * interp, const char *varname, int i
                return JIM_ERR;
 
        nameObjPtr = Jim_NewStringObj(interp, namebuf, -1);
-       if (!nameObjPtr)
-       {
+       if (!nameObjPtr) {
                free(namebuf);
                return JIM_ERR;
        }
@@ -3420,18 +3594,16 @@ static int jim_array2mem(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        struct command_context *context;
        struct target *target;
 
-       context = Jim_GetAssocData(interp, "context");
-       if (context == NULL) {
-               LOG_ERROR("array2mem: no command context");
-               return JIM_ERR;
-       }
+       context = current_command_context(interp);
+       assert(context != NULL);
+
        target = get_current_target(context);
        if (target == NULL) {
                LOG_ERROR("array2mem: no current target");
                return JIM_ERR;
        }
 
-       return target_array2mem(interp,target, argc-1, argv + 1);
+       return target_array2mem(interp, target, argc-1, argv + 1);
 }
 
 static int target_array2mem(Jim_Interp *interp, struct target *target,
@@ -3461,20 +3633,17 @@ static int target_array2mem(Jim_Interp *interp, struct target *target,
 
        e = Jim_GetLong(interp, argv[1], &l);
        width = l;
-       if (e != JIM_OK) {
+       if (e != JIM_OK)
                return e;
-       }
 
        e = Jim_GetLong(interp, argv[2], &l);
        addr = l;
-       if (e != JIM_OK) {
+       if (e != JIM_OK)
                return e;
-       }
        e = Jim_GetLong(interp, argv[3], &l);
        len = l;
-       if (e != JIM_OK) {
+       if (e != JIM_OK)
                return e;
-       }
        switch (width) {
                case 8:
                        width = 1;
@@ -3487,23 +3656,27 @@ static int target_array2mem(Jim_Interp *interp, struct target *target,
                        break;
                default:
                        Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
-                       Jim_AppendStrings(interp, Jim_GetResult(interp), "Invalid width param, must be 8/16/32", NULL);
+                       Jim_AppendStrings(interp, Jim_GetResult(interp),
+                                       "Invalid width param, must be 8/16/32", NULL);
                        return JIM_ERR;
        }
        if (len == 0) {
                Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
-               Jim_AppendStrings(interp, Jim_GetResult(interp), "array2mem: zero width read?", NULL);
+               Jim_AppendStrings(interp, Jim_GetResult(interp),
+                               "array2mem: zero width read?", NULL);
                return JIM_ERR;
        }
        if ((addr + (len * width)) < addr) {
                Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
-               Jim_AppendStrings(interp, Jim_GetResult(interp), "array2mem: addr + len - wraps to zero?", NULL);
+               Jim_AppendStrings(interp, Jim_GetResult(interp),
+                               "array2mem: addr + len - wraps to zero?", NULL);
                return JIM_ERR;
        }
        /* absurd transfer size? */
        if (len > 65536) {
                Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
-               Jim_AppendStrings(interp, Jim_GetResult(interp), "array2mem: absurd > 64K item request", NULL);
+               Jim_AppendStrings(interp, Jim_GetResult(interp),
+                               "array2mem: absurd > 64K item request", NULL);
                return JIM_ERR;
        }
 
@@ -3537,19 +3710,18 @@ static int target_array2mem(Jim_Interp *interp, struct target *target,
                /* Slurp... in buffer size chunks */
 
                count = len; /* in objects.. */
-               if (count > (buffersize/width)) {
-                       count = (buffersize/width);
-               }
+               if (count > (buffersize / width))
+                       count = (buffersize / width);
 
                v = 0; /* shut up gcc */
-               for (i = 0 ;i < count ;i++, n++) {
+               for (i = 0; i < count; i++, n++) {
                        get_int_array_element(interp, varname, n, &v);
                        switch (width) {
                        case 4:
-                               target_buffer_set_u32(target, &buffer[i*width], v);
+                               target_buffer_set_u32(target, &buffer[i * width], v);
                                break;
                        case 2:
-                               target_buffer_set_u16(target, &buffer[i*width], v);
+                               target_buffer_set_u16(target, &buffer[i * width], v);
                                break;
                        case 1:
                                buffer[i] = v & 0x0ff;
@@ -3568,7 +3740,7 @@ static int target_array2mem(Jim_Interp *interp, struct target *target,
                        Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
                        Jim_AppendStrings(interp, Jim_GetResult(interp), "array2mem: cannot read memory", NULL);
                        e = JIM_ERR;
-                       len = 0;
+                       break;
                }
        }
 
@@ -3576,25 +3748,9 @@ static int target_array2mem(Jim_Interp *interp, struct target *target,
 
        Jim_SetResult(interp, Jim_NewEmptyStringObj(interp));
 
-       return JIM_OK;
-}
-
-void target_all_handle_event(enum target_event e)
-{
-       struct target *target;
-
-       LOG_DEBUG("**all*targets: event: %d, %s",
-                          (int)e,
-                          Jim_Nvp_value2name_simple(nvp_target_event, e)->name);
-
-       target = all_targets;
-       while (target) {
-               target_handle_event(target, e);
-               target = target->next;
-       }
+       return e;
 }
 
-
 /* FIX? should we propagate errors here rather than printing them
  * and continuing?
  */
@@ -3611,9 +3767,9 @@ void target_handle_event(struct target *target, enum target_event e)
                                           e,
                                           Jim_Nvp_value2name_simple(nvp_target_event, e)->name,
                                           Jim_GetString(teap->body, NULL));
-                       if (Jim_EvalObj(teap->interp, teap->body) != JIM_OK)
-                       {
-                               Jim_PrintErrorMessage(teap->interp);
+                       if (Jim_EvalObj(teap->interp, teap->body) != JIM_OK) {
+                               Jim_MakeErrorMessage(teap->interp);
+                               command_print(NULL, "%s\n", Jim_GetString(Jim_GetResult(teap->interp), NULL));
                        }
                }
        }
@@ -3642,7 +3798,10 @@ enum target_cfg_param {
        TCFG_WORK_AREA_BACKUP,
        TCFG_ENDIAN,
        TCFG_VARIANT,
+       TCFG_COREID,
        TCFG_CHAIN_POSITION,
+       TCFG_DBGBASE,
+       TCFG_RTOS,
 };
 
 static Jim_Nvp nvp_config_opts[] = {
@@ -3654,8 +3813,10 @@ static Jim_Nvp nvp_config_opts[] = {
        { .name = "-work-area-backup", .value = TCFG_WORK_AREA_BACKUP },
        { .name = "-endian" ,          .value = TCFG_ENDIAN },
        { .name = "-variant",          .value = TCFG_VARIANT },
+       { .name = "-coreid",           .value = TCFG_COREID },
        { .name = "-chain-position",   .value = TCFG_CHAIN_POSITION },
-
+       { .name = "-dbgbase",          .value = TCFG_DBGBASE },
+       { .name = "-rtos",             .value = TCFG_RTOS },
        { .name = NULL, .value = -1 }
 };
 
@@ -3695,11 +3856,11 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                case TCFG_TYPE:
                        /* not setable */
                        if (goi->isconfigure) {
-                               Jim_SetResult_sprintf(goi->interp,
+                               Jim_SetResultFormatted(goi->interp,
                                                "not settable: %s", n->name);
                                return JIM_ERR;
                        } else {
-                       no_params:
+no_params:
                                if (goi->argc != 0) {
                                        Jim_WrongNumArgs(goi->interp,
                                                        goi->argc, goi->argv,
@@ -3741,9 +3902,8 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                                teap = target->event_action;
                                /* replace existing? */
                                while (teap) {
-                                       if (teap->event == (enum target_event)n->value) {
+                                       if (teap->event == (enum target_event)n->value)
                                                break;
-                                       }
                                        teap = teap->next;
                                }
 
@@ -3757,9 +3917,8 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                                        teap->event = n->value;
                                        teap->interp = goi->interp;
                                        Jim_GetOpt_Obj(goi, &o);
-                                       if (teap->body) {
+                                       if (teap->body)
                                                Jim_DecrRefCount(teap->interp, teap->body);
-                                       }
                                        teap->body  = Jim_DuplicateObj(goi->interp, o);
                                        /*
                                         * FIXME:
@@ -3773,8 +3932,7 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                                         */
                                        Jim_IncrRefCount(teap->body);
 
-                                       if (!replace)
-                                       {
+                                       if (!replace) {
                                                /* add to head of event list */
                                                teap->next = target->event_action;
                                                target->event_action = teap;
@@ -3782,11 +3940,10 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                                        Jim_SetEmptyResult(goi->interp);
                                } else {
                                        /* get */
-                                       if (teap == NULL) {
+                                       if (teap == NULL)
                                                Jim_SetEmptyResult(goi->interp);
-                                       } else {
+                                       else
                                                Jim_SetResult(goi->interp, Jim_DuplicateObj(goi->interp, teap->body));
-                                       }
                                }
                        }
                        /* loop for more */
@@ -3796,15 +3953,13 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                        if (goi->isconfigure) {
                                target_free_all_working_areas(target);
                                e = Jim_GetOpt_Wide(goi, &w);
-                               if (e != JIM_OK) {
+                               if (e != JIM_OK)
                                        return e;
-                               }
                                target->working_area_virt = w;
                                target->working_area_virt_spec = true;
                        } else {
-                               if (goi->argc != 0) {
+                               if (goi->argc != 0)
                                        goto no_params;
-                               }
                        }
                        Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->working_area_virt));
                        /* loop for more */
@@ -3814,15 +3969,13 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                        if (goi->isconfigure) {
                                target_free_all_working_areas(target);
                                e = Jim_GetOpt_Wide(goi, &w);
-                               if (e != JIM_OK) {
+                               if (e != JIM_OK)
                                        return e;
-                               }
                                target->working_area_phys = w;
                                target->working_area_phys_spec = true;
                        } else {
-                               if (goi->argc != 0) {
+                               if (goi->argc != 0)
                                        goto no_params;
-                               }
                        }
                        Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->working_area_phys));
                        /* loop for more */
@@ -3832,14 +3985,12 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                        if (goi->isconfigure) {
                                target_free_all_working_areas(target);
                                e = Jim_GetOpt_Wide(goi, &w);
-                               if (e != JIM_OK) {
+                               if (e != JIM_OK)
                                        return e;
-                               }
                                target->working_area_size = w;
                        } else {
-                               if (goi->argc != 0) {
+                               if (goi->argc != 0)
                                        goto no_params;
-                               }
                        }
                        Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->working_area_size));
                        /* loop for more */
@@ -3849,20 +4000,19 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                        if (goi->isconfigure) {
                                target_free_all_working_areas(target);
                                e = Jim_GetOpt_Wide(goi, &w);
-                               if (e != JIM_OK) {
+                               if (e != JIM_OK)
                                        return e;
-                               }
                                /* make this exactly 1 or 0 */
                                target->backup_working_area = (!!w);
                        } else {
-                               if (goi->argc != 0) {
+                               if (goi->argc != 0)
                                        goto no_params;
-                               }
                        }
                        Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->backup_working_area));
                        /* loop for more e*/
                        break;
 
+
                case TCFG_ENDIAN:
                        if (goi->isconfigure) {
                                e = Jim_GetOpt_Nvp(goi, nvp_target_endian, &n);
@@ -3872,9 +4022,8 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                                }
                                target->endianness = n->value;
                        } else {
-                               if (goi->argc != 0) {
+                               if (goi->argc != 0)
                                        goto no_params;
-                               }
                        }
                        n = Jim_Nvp_value2name_simple(nvp_target_endian, target->endianness);
                        if (n->name == NULL) {
@@ -3888,47 +4037,83 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
                case TCFG_VARIANT:
                        if (goi->isconfigure) {
                                if (goi->argc < 1) {
-                                       Jim_SetResult_sprintf(goi->interp,
+                                       Jim_SetResultFormatted(goi->interp,
                                                                                   "%s ?STRING?",
                                                                                   n->name);
                                        return JIM_ERR;
                                }
-                               if (target->variant) {
+                               if (target->variant)
                                        free((void *)(target->variant));
-                               }
                                e = Jim_GetOpt_String(goi, &cp, NULL);
+                               if (e != JIM_OK)
+                                       return e;
                                target->variant = strdup(cp);
                        } else {
-                               if (goi->argc != 0) {
+                               if (goi->argc != 0)
+                                       goto no_params;
+                       }
+                       Jim_SetResultString(goi->interp, target->variant, -1);
+                       /* loop for more */
+                       break;
+
+               case TCFG_COREID:
+                       if (goi->isconfigure) {
+                               e = Jim_GetOpt_Wide(goi, &w);
+                               if (e != JIM_OK)
+                                       return e;
+                               target->coreid = (int32_t)w;
+                       } else {
+                               if (goi->argc != 0)
                                        goto no_params;
-                               }
                        }
-                       Jim_SetResultString(goi->interp, target->variant,-1);
+                       Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->working_area_size));
                        /* loop for more */
                        break;
+
                case TCFG_CHAIN_POSITION:
                        if (goi->isconfigure) {
-                               Jim_Obj *o;
+                               Jim_Obj *o_t;
                                struct jtag_tap *tap;
                                target_free_all_working_areas(target);
-                               e = Jim_GetOpt_Obj(goi, &o);
-                               if (e != JIM_OK) {
+                               e = Jim_GetOpt_Obj(goi, &o_t);
+                               if (e != JIM_OK)
                                        return e;
-                               }
-                               tap = jtag_tap_by_jim_obj(goi->interp, o);
-                               if (tap == NULL) {
+                               tap = jtag_tap_by_jim_obj(goi->interp, o_t);
+                               if (tap == NULL)
                                        return JIM_ERR;
-                               }
                                /* make this exactly 1 or 0 */
                                target->tap = tap;
                        } else {
-                               if (goi->argc != 0) {
+                               if (goi->argc != 0)
                                        goto no_params;
-                               }
                        }
                        Jim_SetResultString(goi->interp, target->tap->dotted_name, -1);
                        /* loop for more e*/
                        break;
+               case TCFG_DBGBASE:
+                       if (goi->isconfigure) {
+                               e = Jim_GetOpt_Wide(goi, &w);
+                               if (e != JIM_OK)
+                                       return e;
+                               target->dbgbase = (uint32_t)w;
+                               target->dbgbase_set = true;
+                       } else {
+                               if (goi->argc != 0)
+                                       goto no_params;
+                       }
+                       Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, target->dbgbase));
+                       /* loop for more */
+                       break;
+
+               case TCFG_RTOS:
+                       /* RTOS */
+                       {
+                               int result = rtos_create(goi, target);
+                               if (result != JIM_OK)
+                                       return result;
+                       }
+                       /* loop for more */
+                       break;
                }
        } /* while (goi->argc) */
 
@@ -3937,16 +4122,14 @@ static int target_configure(Jim_GetOptInfo *goi, struct target *target)
        return JIM_OK;
 }
 
-static int
-jim_target_configure(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+static int jim_target_configure(Jim_Interp *interp, int argc, Jim_Obj * const *argv)
 {
        Jim_GetOptInfo goi;
 
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
        goi.isconfigure = !strcmp(Jim_GetString(argv[0], NULL), "configure");
        int need_args = 1 + goi.isconfigure;
-       if (goi.argc < need_args)
-       {
+       if (goi.argc < need_args) {
                Jim_WrongNumArgs(goi.interp, goi.argc, goi.argv,
                        goi.isconfigure
                                ? "missing: -option VALUE ..."
@@ -3964,19 +4147,28 @@ static int jim_target_mw(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        Jim_GetOptInfo goi;
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
 
-       /* danger! goi.argc will be modified below! */
-       argc = goi.argc;
-
-       if (argc != 2 && argc != 3)
-       {
-               Jim_SetResult_sprintf(goi.interp,
-                               "usage: %s <address> <data> [<count>]", cmd_name);
+       if (goi.argc < 2 || goi.argc > 4) {
+               Jim_SetResultFormatted(goi.interp,
+                               "usage: %s [phys] <address> <data> [<count>]", cmd_name);
                return JIM_ERR;
        }
 
+       target_write_fn fn;
+       fn = target_write_memory_fast;
+
+       int e;
+       if (strcmp(Jim_GetString(argv[1], NULL), "phys") == 0) {
+               /* consume it */
+               struct Jim_Obj *obj;
+               e = Jim_GetOpt_Obj(&goi, &obj);
+               if (e != JIM_OK)
+                       return e;
+
+               fn = target_write_phys_memory;
+       }
 
        jim_wide a;
-       int e = Jim_GetOpt_Wide(&goi, &a);
+       e = Jim_GetOpt_Wide(&goi, &a);
        if (e != JIM_OK)
                return e;
 
@@ -3986,29 +4178,30 @@ static int jim_target_mw(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                return e;
 
        jim_wide c = 1;
-       if (argc == 3)
-       {
+       if (goi.argc == 1) {
                e = Jim_GetOpt_Wide(&goi, &c);
                if (e != JIM_OK)
                        return e;
        }
 
+       /* all args must be consumed */
+       if (goi.argc != 0)
+               return JIM_ERR;
+
        struct target *target = Jim_CmdPrivData(goi.interp);
        unsigned data_size;
-       if (strcasecmp(cmd_name, "mww") == 0) {
+       if (strcasecmp(cmd_name, "mww") == 0)
                data_size = 4;
-       }
-       else if (strcasecmp(cmd_name, "mwh") == 0) {
+       else if (strcasecmp(cmd_name, "mwh") == 0)
                data_size = 2;
-       }
-       else if (strcasecmp(cmd_name, "mwb") == 0) {
+       else if (strcasecmp(cmd_name, "mwb") == 0)
                data_size = 1;
-       else {
+       else {
                LOG_ERROR("command '%s' unknown: ", cmd_name);
                return JIM_ERR;
        }
 
-       return (target_fill_mem(target, a, target_write_memory_fast, data_size, b, c) == ERROR_OK) ? JIM_OK : JIM_ERR;
+       return (target_fill_mem(target, a, fn, data_size, b, c) == ERROR_OK) ? JIM_OK : JIM_ERR;
 }
 
 static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
@@ -4018,30 +4211,43 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        Jim_GetOptInfo goi;
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
 
-       /* danger! goi.argc will be modified below! */
-       argc = goi.argc;
-
-       if ((argc != 1) && (argc != 2))
-       {
-               Jim_SetResult_sprintf(goi.interp,
-                               "usage: %s <address> [<count>]", cmd_name);
+       if ((goi.argc < 1) || (goi.argc > 3)) {
+               Jim_SetResultFormatted(goi.interp,
+                               "usage: %s [phys] <address> [<count>]", cmd_name);
                return JIM_ERR;
        }
 
+       int (*fn)(struct target *target,
+                       uint32_t address, uint32_t size, uint32_t count, uint8_t *buffer);
+       fn = target_read_memory;
+
+       int e;
+       if (strcmp(Jim_GetString(argv[1], NULL), "phys") == 0) {
+               /* consume it */
+               struct Jim_Obj *obj;
+               e = Jim_GetOpt_Obj(&goi, &obj);
+               if (e != JIM_OK)
+                       return e;
+
+               fn = target_read_phys_memory;
+       }
+
        jim_wide a;
-       int e = Jim_GetOpt_Wide(&goi, &a);
-       if (e != JIM_OK) {
+       e = Jim_GetOpt_Wide(&goi, &a);
+       if (e != JIM_OK)
                return JIM_ERR;
-       }
        jim_wide c;
-       if (argc == 2) {
+       if (goi.argc == 1) {
                e = Jim_GetOpt_Wide(&goi, &c);
-               if (e != JIM_OK) {
+               if (e != JIM_OK)
                        return JIM_ERR;
-               }
-       } else {
+       } else
                c = 1;
-       }
+
+       /* all args must be consumed */
+       if (goi.argc != 0)
+               return JIM_ERR;
+
        jim_wide b = 1; /* shut up gcc */
        if (strcasecmp(cmd_name, "mdw") == 0)
                b = 4;
@@ -4062,46 +4268,42 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        jim_wide x, y, z;
        while (c > 0) {
                y = c;
-               if (y > 16) {
+               if (y > 16)
                        y = 16;
-               }
-               e = target_read_memory(target, a, b, y / b, target_buf);
+               e = fn(target, a, b, y / b, target_buf);
                if (e != ERROR_OK) {
-                       Jim_SetResult_sprintf(interp, "error reading target @ 0x%08lx", (int)(a));
+                       char tmp[10];
+                       snprintf(tmp, sizeof(tmp), "%08lx", (long)a);
+                       Jim_SetResultFormatted(interp, "error reading target @ 0x%s", tmp);
                        return JIM_ERR;
                }
 
-               Jim_fprintf(interp, interp->cookie_stdout, "0x%08x ", (int)(a));
+               command_print(NULL, "0x%08x ", (int)(a));
                switch (b) {
                case 4:
-                       for (x = 0; x < 16 && x < y; x += 4)
-                       {
-                               z = target_buffer_get_u32(target, &(target_buf[ x ]));
-                               Jim_fprintf(interp, interp->cookie_stdout, "%08x ", (int)(z));
-                       }
-                       for (; (x < 16) ; x += 4) {
-                               Jim_fprintf(interp, interp->cookie_stdout, "         ");
+                       for (x = 0; x < 16 && x < y; x += 4) {
+                               z = target_buffer_get_u32(target, &(target_buf[x]));
+                               command_print(NULL, "%08x ", (int)(z));
                        }
+                       for (; (x < 16) ; x += 4)
+                               command_print(NULL, "         ");
                        break;
                case 2:
-                       for (x = 0; x < 16 && x < y; x += 2)
-                       {
-                               z = target_buffer_get_u16(target, &(target_buf[ x ]));
-                               Jim_fprintf(interp, interp->cookie_stdout, "%04x ", (int)(z));
-                       }
-                       for (; (x < 16) ; x += 2) {
-                               Jim_fprintf(interp, interp->cookie_stdout, "     ");
+                       for (x = 0; x < 16 && x < y; x += 2) {
+                               z = target_buffer_get_u16(target, &(target_buf[x]));
+                               command_print(NULL, "%04x ", (int)(z));
                        }
+                       for (; (x < 16) ; x += 2)
+                               command_print(NULL, "     ");
                        break;
                case 1:
                default:
                        for (x = 0 ; (x < 16) && (x < y) ; x += 1) {
-                               z = target_buffer_get_u8(target, &(target_buf[ x ]));
-                               Jim_fprintf(interp, interp->cookie_stdout, "%02x ", (int)(z));
-                       }
-                       for (; (x < 16) ; x += 1) {
-                               Jim_fprintf(interp, interp->cookie_stdout, "   ");
+                               z = target_buffer_get_u8(target, &(target_buf[x]));
+                               command_print(NULL, "%02x ", (int)(z));
                        }
+                       for (; (x < 16) ; x += 1)
+                               command_print(NULL, "   ");
                        break;
                }
                /* ascii-ify the bytes */
@@ -4122,7 +4324,7 @@ static int jim_target_md(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                /* terminate */
                target_buf[16] = 0;
                /* print - with a newline */
-               Jim_fprintf(interp, interp->cookie_stdout, "%s\n", target_buf);
+               command_print(NULL, "%s\n", target_buf);
                /* NEXT... */
                c -= 16;
                a += 16;
@@ -4146,14 +4348,13 @@ static int jim_target_array2mem(Jim_Interp *interp,
 
 static int jim_target_tap_disabled(Jim_Interp *interp)
 {
-       Jim_SetResult_sprintf(interp, "[TAP is disabled]");
+       Jim_SetResultFormatted(interp, "[TAP is disabled]");
        return JIM_ERR;
 }
 
 static int jim_target_examine(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "[no parameters]");
                return JIM_ERR;
        }
@@ -4163,17 +4364,13 @@ static int jim_target_examine(Jim_Interp *interp, int argc, Jim_Obj *const *argv
 
        int e = target->type->examine(target);
        if (e != ERROR_OK)
-       {
-               Jim_SetResult_sprintf(interp, "examine-fails: %d", e);
                return JIM_ERR;
-       }
        return JIM_OK;
 }
 
 static int jim_target_halt_gdb(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "[no parameters]");
                return JIM_ERR;
        }
@@ -4187,8 +4384,7 @@ static int jim_target_halt_gdb(Jim_Interp *interp, int argc, Jim_Obj *const *arg
 
 static int jim_target_poll(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "[no parameters]");
                return JIM_ERR;
        }
@@ -4197,16 +4393,12 @@ static int jim_target_poll(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                return jim_target_tap_disabled(interp);
 
        int e;
-       if (!(target_was_examined(target))) {
+       if (!(target_was_examined(target)))
                e = ERROR_TARGET_NOT_EXAMINED;
-       } else {
+       else
                e = target->type->poll(target);
-       }
        if (e != ERROR_OK)
-       {
-               Jim_SetResult_sprintf(interp, "poll-fails: %d", e);
                return JIM_ERR;
-       }
        return JIM_OK;
 }
 
@@ -4215,8 +4407,7 @@ static int jim_target_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        Jim_GetOptInfo goi;
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
 
-       if (goi.argc != 2)
-       {
+       if (goi.argc != 2) {
                Jim_WrongNumArgs(interp, 0, argv,
                                "([tT]|[fF]|assert|deassert) BOOL");
                return JIM_ERR;
@@ -4224,8 +4415,7 @@ static int jim_target_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 
        Jim_Nvp *n;
        int e = Jim_GetOpt_Nvp(&goi, nvp_assert, &n);
-       if (e != JIM_OK)
-       {
+       if (e != JIM_OK) {
                Jim_GetOpt_NvpUnknown(&goi, nvp_assert, 1);
                return e;
        }
@@ -4238,14 +4428,12 @@ static int jim_target_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        struct target *target = Jim_CmdPrivData(goi.interp);
        if (!target->tap->enabled)
                return jim_target_tap_disabled(interp);
-       if (!(target_was_examined(target)))
-       {
+       if (!(target_was_examined(target))) {
                LOG_ERROR("Target not examined yet");
                return ERROR_TARGET_NOT_EXAMINED;
        }
-       if (!target->type->assert_reset || !target->type->deassert_reset)
-       {
-               Jim_SetResult_sprintf(interp,
+       if (!target->type->assert_reset || !target->type->deassert_reset) {
+               Jim_SetResultFormatted(interp,
                                "No target-specific reset for %s",
                                target_name(target));
                return JIM_ERR;
@@ -4256,11 +4444,10 @@ static int jim_target_reset(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        target_free_all_working_areas_restore(target, 0);
 
        /* do the assert */
-       if (n->value == NVP_ASSERT) {
+       if (n->value == NVP_ASSERT)
                e = target->type->assert_reset(target);
-       } else {
+       else
                e = target->type->deassert_reset(target);
-       }
        return (e == ERROR_OK) ? JIM_OK : JIM_ERR;
 }
 
@@ -4283,10 +4470,9 @@ static int jim_target_wait_state(Jim_Interp *interp, int argc, Jim_Obj *const *a
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
 
        /* params:  <name>  statename timeoutmsecs */
-       if (goi.argc != 2)
-       {
+       if (goi.argc != 2) {
                const char *cmd_name = Jim_GetString(argv[0], NULL);
-               Jim_SetResult_sprintf(goi.interp,
+               Jim_SetResultFormatted(goi.interp,
                                "%s <state_name> <timeout_in_msec>", cmd_name);
                return JIM_ERR;
        }
@@ -4294,25 +4480,25 @@ static int jim_target_wait_state(Jim_Interp *interp, int argc, Jim_Obj *const *a
        Jim_Nvp *n;
        int e = Jim_GetOpt_Nvp(&goi, nvp_target_state, &n);
        if (e != JIM_OK) {
-               Jim_GetOpt_NvpUnknown(&goi, nvp_target_state,1);
+               Jim_GetOpt_NvpUnknown(&goi, nvp_target_state, 1);
                return e;
        }
        jim_wide a;
        e = Jim_GetOpt_Wide(&goi, &a);
-       if (e != JIM_OK) {
+       if (e != JIM_OK)
                return e;
-       }
        struct target *target = Jim_CmdPrivData(interp);
        if (!target->tap->enabled)
                return jim_target_tap_disabled(interp);
 
        e = target_wait_state(target, n->value, a);
-       if (e != ERROR_OK)
-       {
-               Jim_SetResult_sprintf(goi.interp,
-                               "target: %s wait %s fails (%d) %s",
+       if (e != ERROR_OK) {
+               Jim_Obj *eObj = Jim_NewIntObj(interp, e);
+               Jim_SetResultFormatted(goi.interp,
+                               "target: %s wait %s fails (%#s) %s",
                                target_name(target), n->name,
-                               e, target_strerror_safe(e));
+                               eObj, target_strerror_safe(e));
+               Jim_FreeNewObj(interp, eObj);
                return JIM_ERR;
        }
        return JIM_OK;
@@ -4322,7 +4508,9 @@ static int jim_target_wait_state(Jim_Interp *interp, int argc, Jim_Obj *const *a
  */
 static int jim_target_event_list(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       struct command_context *cmd_ctx = Jim_GetAssocData(interp, "context");
+       struct command_context *cmd_ctx = current_command_context(interp);
+       assert(cmd_ctx != NULL);
+
        struct target *target = Jim_CmdPrivData(interp);
        struct target_event_action *teap = target->event_action;
        command_print(cmd_ctx, "Event actions for target (%d) %s\n",
@@ -4331,8 +4519,7 @@ static int jim_target_event_list(Jim_Interp *interp, int argc, Jim_Obj *const *a
        command_print(cmd_ctx, "%-25s | Body", "Event");
        command_print(cmd_ctx, "------------------------- | "
                        "----------------------------------------");
-       while (teap)
-       {
+       while (teap) {
                Jim_Nvp *opt = Jim_Nvp_value2name_simple(nvp_target_event, teap->event);
                command_print(cmd_ctx, "%-25s | %s",
                                opt->name, Jim_GetString(teap->body, NULL));
@@ -4343,8 +4530,7 @@ static int jim_target_event_list(Jim_Interp *interp, int argc, Jim_Obj *const *a
 }
 static int jim_target_current_state(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "[no parameters]");
                return JIM_ERR;
        }
@@ -4356,16 +4542,14 @@ static int jim_target_invoke_event(Jim_Interp *interp, int argc, Jim_Obj *const
 {
        Jim_GetOptInfo goi;
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
-       if (goi.argc != 1)
-       {
+       if (goi.argc != 1) {
                const char *cmd_name = Jim_GetString(argv[0], NULL);
-               Jim_SetResult_sprintf(goi.interp, "%s <eventname>", cmd_name);
+               Jim_SetResultFormatted(goi.interp, "%s <eventname>", cmd_name);
                return JIM_ERR;
        }
        Jim_Nvp *n;
        int e = Jim_GetOpt_Nvp(&goi, nvp_target_event, &n);
-       if (e != JIM_OK)
-       {
+       if (e != JIM_OK) {
                Jim_GetOpt_NvpUnknown(&goi, nvp_target_event, 1);
                return e;
        }
@@ -4516,7 +4700,9 @@ static int target_create(Jim_GetOptInfo *goi)
        struct target *target;
        struct command_context *cmd_ctx;
 
-       cmd_ctx = Jim_GetAssocData(goi->interp, "context");
+       cmd_ctx = current_command_context(goi->interp);
+       assert(cmd_ctx != NULL);
+
        if (goi->argc < 3) {
                Jim_WrongNumArgs(goi->interp, 1, goi->argv, "?name? ?type? ..options...");
                return JIM_ERR;
@@ -4528,12 +4714,14 @@ static int target_create(Jim_GetOptInfo *goi)
        cmd = Jim_GetCommand(goi->interp, new_cmd, JIM_ERRMSG);
        if (cmd) {
                cp = Jim_GetString(new_cmd, NULL);
-               Jim_SetResult_sprintf(goi->interp, "Command/target: %s Exists", cp);
+               Jim_SetResultFormatted(goi->interp, "Command/target: %s Exists", cp);
                return JIM_ERR;
        }
 
        /* TYPE */
        e = Jim_GetOpt_String(goi, &cp2, NULL);
+       if (e != JIM_OK)
+               return e;
        cp = cp2;
        /* now does target type exist */
        for (x = 0 ; target_types[x] ; x++) {
@@ -4543,7 +4731,7 @@ static int target_create(Jim_GetOptInfo *goi)
                }
        }
        if (target_types[x] == NULL) {
-               Jim_SetResult_sprintf(goi->interp, "Unknown target type %s, try one of ", cp);
+               Jim_SetResultFormatted(goi->interp, "Unknown target type %s, try one of ", cp);
                for (x = 0 ; target_types[x] ; x++) {
                        if (target_types[x + 1]) {
                                Jim_AppendStrings(goi->interp,
@@ -4554,25 +4742,28 @@ static int target_create(Jim_GetOptInfo *goi)
                                Jim_AppendStrings(goi->interp,
                                                                   Jim_GetResult(goi->interp),
                                                                   " or ",
-                                                                  target_types[x]->name,NULL);
+                                                                  target_types[x]->name, NULL);
                        }
                }
                return JIM_ERR;
        }
 
        /* Create it */
-       target = calloc(1,sizeof(struct target));
+       target = calloc(1, sizeof(struct target));
        /* set target number */
        target->target_number = new_target_number();
 
        /* allocate memory for each unique target type */
-       target->type = (struct target_type*)calloc(1,sizeof(struct target_type));
+       target->type = (struct target_type *)calloc(1, sizeof(struct target_type));
 
        memcpy(target->type, target_types[x], sizeof(struct target_type));
 
        /* will be set by "-endian" */
        target->endianness = TARGET_ENDIAN_UNKNOWN;
 
+       /* default to first core, override with -coreid */
+       target->coreid = 0;
+
        target->working_area        = 0x0;
        target->working_area_size   = 0x0;
        target->working_areas       = NULL;
@@ -4605,12 +4796,14 @@ static int target_create(Jim_GetOptInfo *goi)
 
        target->endianness = TARGET_ENDIAN_UNKNOWN;
 
+       target->rtos = NULL;
+       target->rtos_auto_detect = false;
+
        /* Do the rest as "configure" options */
        goi->isconfigure = 1;
        e = target_configure(goi, target);
 
-       if (target->tap == NULL)
-       {
+       if (target->tap == NULL) {
                Jim_SetResultString(goi->interp, "-chain-position required when creating target", -1);
                e = JIM_ERR;
        }
@@ -4639,17 +4832,15 @@ static int target_create(Jim_GetOptInfo *goi)
                if (ERROR_OK != e)
                        LOG_ERROR("unable to register '%s' commands", cp);
        }
-       if (target->type->target_create) {
+       if (target->type->target_create)
                (*(target->type->target_create))(target, goi->interp);
-       }
 
        /* append to end of list */
        {
                struct target **tpp;
                tpp = &(all_targets);
-               while (*tpp) {
+               while (*tpp)
                        tpp = &((*tpp)->next);
-               }
                *tpp = target;
        }
 
@@ -4668,6 +4859,7 @@ static int target_create(Jim_GetOptInfo *goi)
                        .name = cp,
                        .mode = COMMAND_ANY,
                        .help = "target command group",
+                       .usage = "",
                        .chain = target_subcommands,
                },
                COMMAND_REGISTRATION_DONE
@@ -4685,26 +4877,25 @@ static int target_create(Jim_GetOptInfo *goi)
 
 static int jim_target_current(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "Too many parameters");
                return JIM_ERR;
        }
-       struct command_context *cmd_ctx = Jim_GetAssocData(interp, "context");
+       struct command_context *cmd_ctx = current_command_context(interp);
+       assert(cmd_ctx != NULL);
+
        Jim_SetResultString(interp, get_current_target(cmd_ctx)->cmd_name, -1);
        return JIM_OK;
 }
 
 static int jim_target_types(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "Too many parameters");
                return JIM_ERR;
        }
        Jim_SetResult(interp, Jim_NewListObj(interp, NULL, 0));
-       for (unsigned x = 0; NULL != target_types[x]; x++)
-       {
+       for (unsigned x = 0; NULL != target_types[x]; x++) {
                Jim_ListAppendElement(interp, Jim_GetResult(interp),
                        Jim_NewStringObj(interp, target_types[x]->name, -1));
        }
@@ -4713,15 +4904,13 @@ static int jim_target_types(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 
 static int jim_target_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "Too many parameters");
                return JIM_ERR;
        }
        Jim_SetResult(interp, Jim_NewListObj(interp, NULL, 0));
        struct target *target = all_targets;
-       while (target)
-       {
+       while (target) {
                Jim_ListAppendElement(interp, Jim_GetResult(interp),
                        Jim_NewStringObj(interp, target_name(target), -1));
                target = target->next;
@@ -4729,12 +4918,62 @@ static int jim_target_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
        return JIM_OK;
 }
 
+static int jim_target_smp(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+       int i;
+       const char *targetname;
+       int retval, len;
+       struct target *target = (struct target *) NULL;
+       struct target_list *head, *curr, *new;
+       curr = (struct target_list *) NULL;
+       head = (struct target_list *) NULL;
+       new = (struct target_list *) NULL;
+
+       retval = 0;
+       LOG_DEBUG("%d", argc);
+       /* argv[1] = target to associate in smp
+        * argv[2] = target to assoicate in smp
+        * argv[3] ...
+        */
+
+       for (i = 1; i < argc; i++) {
+
+               targetname = Jim_GetString(argv[i], &len);
+               target = get_target(targetname);
+               LOG_DEBUG("%s ", targetname);
+               if (target) {
+                       new = malloc(sizeof(struct target_list));
+                       new->target = target;
+                       new->next = (struct target_list *)NULL;
+                       if (head == (struct target_list *)NULL) {
+                               head = new;
+                               curr = head;
+                       } else {
+                               curr->next = new;
+                               curr = new;
+                       }
+               }
+       }
+       /*  now parse the list of cpu and put the target in smp mode*/
+       curr = head;
+
+       while (curr != (struct target_list *)NULL) {
+               target = curr->target;
+               target->smp = 1;
+               target->head = head;
+               curr = curr->next;
+       }
+       if (target->rtos)
+               retval = rtos_smp_init(head->target);
+       return retval;
+}
+
+
 static int jim_target_create(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
        Jim_GetOptInfo goi;
        Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
-       if (goi.argc < 3)
-       {
+       if (goi.argc < 3) {
                Jim_WrongNumArgs(goi.interp, goi.argc, goi.argv,
                        "<name> <target_type> [<target_options> ...]");
                return JIM_ERR;
@@ -4749,9 +4988,8 @@ static int jim_target_number(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 
        /* It's OK to remove this mechanism sometime after August 2010 or so */
        LOG_WARNING("don't use numbers as target identifiers; use names");
-       if (goi.argc != 1)
-       {
-               Jim_SetResult_sprintf(goi.interp, "usage: target number <number>");
+       if (goi.argc != 1) {
+               Jim_SetResultFormatted(goi.interp, "usage: target number <number>");
                return JIM_ERR;
        }
        jim_wide w;
@@ -4760,30 +4998,31 @@ static int jim_target_number(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
                return JIM_ERR;
 
        struct target *target;
-       for (target = all_targets; NULL != target; target = target->next)
-       {
+       for (target = all_targets; NULL != target; target = target->next) {
                if (target->target_number != w)
                        continue;
 
                Jim_SetResultString(goi.interp, target_name(target), -1);
                return JIM_OK;
        }
-       Jim_SetResult_sprintf(goi.interp,
-                       "Target: number %d does not exist", (int)(w));
+       {
+               Jim_Obj *wObj = Jim_NewIntObj(goi.interp, w);
+               Jim_SetResultFormatted(goi.interp,
+                       "Target: number %#s does not exist", wObj);
+               Jim_FreeNewObj(interp, wObj);
+       }
        return JIM_ERR;
 }
 
 static int jim_target_count(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
-       if (argc != 1)
-       {
+       if (argc != 1) {
                Jim_WrongNumArgs(interp, 1, argv, "<no parameters>");
                return JIM_ERR;
        }
        unsigned count = 0;
        struct target *target = all_targets;
-       while (NULL != target)
-       {
+       while (NULL != target) {
                target = target->next;
                count++;
        }
@@ -4840,11 +5079,18 @@ static const struct command_registration target_subcommand_handlers[] = {
                .help = "Returns the number of targets as an integer "
                        "(DEPRECATED)",
        },
+       {
+               .name = "smp",
+               .mode = COMMAND_ANY,
+               .jim_handler = jim_target_smp,
+               .usage = "targetname1 targetname2 ...",
+               .help = "gather several target in a smp list"
+       },
+
        COMMAND_REGISTRATION_DONE
 };
 
-struct FastLoad
-{
+struct FastLoad {
        uint32_t address;
        uint8_t *data;
        int length;
@@ -4856,11 +5102,9 @@ static struct FastLoad *fastload;
 
 static void free_fastload(void)
 {
-       if (fastload != NULL)
-       {
+       if (fastload != NULL) {
                int i;
-               for (i = 0; i < fastload_num; i++)
-               {
+               for (i = 0; i < fastload_num; i++) {
                        if (fastload[i].data)
                                free(fastload[i].data);
                }
@@ -4869,9 +5113,6 @@ static void free_fastload(void)
        }
 }
 
-
-
-
 COMMAND_HANDLER(handle_fast_load_image_command)
 {
        uint8_t *buffer;
@@ -4891,33 +5132,31 @@ COMMAND_HANDLER(handle_fast_load_image_command)
        struct duration bench;
        duration_start(&bench);
 
-       if (image_open(&image, CMD_ARGV[0], (CMD_ARGC >= 3) ? CMD_ARGV[2] : NULL) != ERROR_OK)
-       {
-               return ERROR_OK;
-       }
+       retval = image_open(&image, CMD_ARGV[0], (CMD_ARGC >= 3) ? CMD_ARGV[2] : NULL);
+       if (retval != ERROR_OK)
+               return retval;
 
        image_size = 0x0;
        retval = ERROR_OK;
        fastload_num = image.num_sections;
        fastload = (struct FastLoad *)malloc(sizeof(struct FastLoad)*image.num_sections);
-       if (fastload == NULL)
-       {
+       if (fastload == NULL) {
+               command_print(CMD_CTX, "out of memory");
                image_close(&image);
                return ERROR_FAIL;
        }
        memset(fastload, 0, sizeof(struct FastLoad)*image.num_sections);
-       for (i = 0; i < image.num_sections; i++)
-       {
+       for (i = 0; i < image.num_sections; i++) {
                buffer = malloc(image.sections[i].size);
-               if (buffer == NULL)
-               {
+               if (buffer == NULL) {
                        command_print(CMD_CTX, "error allocating buffer for section (%d bytes)",
                                                  (int)(image.sections[i].size));
+                       retval = ERROR_FAIL;
                        break;
                }
 
-               if ((retval = image_read_section(&image, i, 0x0, image.sections[i].size, buffer, &buf_cnt)) != ERROR_OK)
-               {
+               retval = image_read_section(&image, i, 0x0, image.sections[i].size, buffer, &buf_cnt);
+               if (retval != ERROR_OK) {
                        free(buffer);
                        break;
                }
@@ -4925,29 +5164,26 @@ COMMAND_HANDLER(handle_fast_load_image_command)
                uint32_t offset = 0;
                uint32_t length = buf_cnt;
 
-
                /* DANGER!!! beware of unsigned comparision here!!! */
 
-               if ((image.sections[i].base_address + buf_cnt >= min_address)&&
-                               (image.sections[i].base_address < max_address))
-               {
-                       if (image.sections[i].base_address < min_address)
-                       {
+               if ((image.sections[i].base_address + buf_cnt >= min_address) &&
+                               (image.sections[i].base_address < max_address)) {
+                       if (image.sections[i].base_address < min_address) {
                                /* clip addresses below */
                                offset += min_address-image.sections[i].base_address;
                                length -= offset;
                        }
 
                        if (image.sections[i].base_address + buf_cnt > max_address)
-                       {
                                length -= (image.sections[i].base_address + buf_cnt)-max_address;
-                       }
 
                        fastload[i].address = image.sections[i].base_address + offset;
                        fastload[i].data = malloc(length);
-                       if (fastload[i].data == NULL)
-                       {
+                       if (fastload[i].data == NULL) {
                                free(buffer);
+                               command_print(CMD_CTX, "error allocating buffer for section (%d bytes)",
+                                                         length);
+                               retval = ERROR_FAIL;
                                break;
                        }
                        memcpy(fastload[i].data, buffer + offset, length);
@@ -4962,10 +5198,9 @@ COMMAND_HANDLER(handle_fast_load_image_command)
                free(buffer);
        }
 
-       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK))
-       {
+       if ((ERROR_OK == retval) && (duration_measure(&bench) == ERROR_OK)) {
                command_print(CMD_CTX, "Loaded %" PRIu32 " bytes "
-                               "in %fs (%0.3f kb/s)", image_size, 
+                               "in %fs (%0.3f KiB/s)", image_size,
                                duration_elapsed(&bench), duration_kbps(&bench, image_size));
 
                command_print(CMD_CTX,
@@ -4976,9 +5211,7 @@ COMMAND_HANDLER(handle_fast_load_image_command)
        image_close(&image);
 
        if (retval != ERROR_OK)
-       {
                free_fastload();
-       }
 
        return retval;
 }
@@ -4987,8 +5220,7 @@ COMMAND_HANDLER(handle_fast_load_command)
 {
        if (CMD_ARGC > 0)
                return ERROR_COMMAND_SYNTAX_ERROR;
-       if (fastload == NULL)
-       {
+       if (fastload == NULL) {
                LOG_ERROR("No image in memory");
                return ERROR_FAIL;
        }
@@ -4996,20 +5228,20 @@ COMMAND_HANDLER(handle_fast_load_command)
        int ms = timeval_ms();
        int size = 0;
        int retval = ERROR_OK;
-       for (i = 0; i < fastload_num;i++)
-       {
+       for (i = 0; i < fastload_num; i++) {
                struct target *target = get_current_target(CMD_CTX);
                command_print(CMD_CTX, "Write to 0x%08x, length 0x%08x",
                                          (unsigned int)(fastload[i].address),
                                          (unsigned int)(fastload[i].length));
-               if (retval == ERROR_OK)
-               {
-                       retval = target_write_buffer(target, fastload[i].address, fastload[i].length, fastload[i].data);
-               }
+               retval = target_write_buffer(target, fastload[i].address, fastload[i].length, fastload[i].data);
+               if (retval != ERROR_OK)
+                       break;
                size += fastload[i].length;
        }
-       int after = timeval_ms();
-       command_print(CMD_CTX, "Loaded image %f kBytes/s", (float)(size/1024.0)/((float)(after-ms)/1000.0));
+       if (retval == ERROR_OK) {
+               int after = timeval_ms();
+               command_print(CMD_CTX, "Loaded image %f kBytes/s", (float)(size/1024.0)/((float)(after-ms)/1000.0));
+       }
        return retval;
 }
 
@@ -5051,6 +5283,27 @@ COMMAND_HANDLER(handle_target_reset_nag)
                        "performance");
 }
 
+COMMAND_HANDLER(handle_ps_command)
+{
+       struct target *target = get_current_target(CMD_CTX);
+       char *display;
+       if (target->state != TARGET_HALTED) {
+               LOG_INFO("target not halted !!");
+               return ERROR_OK;
+       }
+
+       if ((target->rtos) && (target->rtos->type)
+                       && (target->rtos->type->ps_command)) {
+               display = target->rtos->type->ps_command(target);
+               command_print(CMD_CTX, "%s", display);
+               free(display);
+               return ERROR_OK;
+       } else {
+               LOG_INFO("failed");
+               return ERROR_TARGET_FAILURE;
+       }
+}
+
 static const struct command_registration target_exec_command_handlers[] = {
        {
                .name = "fast_load_image",
@@ -5067,11 +5320,13 @@ static const struct command_registration target_exec_command_handlers[] = {
                .mode = COMMAND_EXEC,
                .help = "loads active fast load image to current target "
                        "- mainly for profiling purposes",
+               .usage = "",
        },
        {
                .name = "profile",
                .handler = handle_profile_command,
                .mode = COMMAND_EXEC,
+               .usage = "seconds filename",
                .help = "profiling samples the CPU PC",
        },
        /** @todo don't register virt2phys() unless target supports it */
@@ -5132,6 +5387,7 @@ static const struct command_registration target_exec_command_handlers[] = {
                .name = "soft_reset_halt",
                .handler = handle_soft_reset_halt_command,
                .mode = COMMAND_EXEC,
+               .usage = "",
                .help = "halt the target and do a soft reset",
        },
        {
@@ -5188,7 +5444,7 @@ static const struct command_registration target_exec_command_handlers[] = {
                .handler = handle_bp_command,
                .mode = COMMAND_EXEC,
                .help = "list or set hardware or software breakpoint",
-               .usage = "[address length ['hw']]",
+               .usage = "<address> [<asid>]<length> ['hw'|'hw_ctx']",
        },
        {
                .name = "rbp",
@@ -5237,7 +5493,7 @@ static const struct command_registration target_exec_command_handlers[] = {
                .usage = "filename [offset [type]]",
        },
        {
-               .name = "ocd_mem2array",
+               .name = "mem2array",
                .mode = COMMAND_EXEC,
                .jim_handler = jim_mem2array,
                .help = "read 8/16/32 bit memory and return as a TCL array "
@@ -5245,7 +5501,7 @@ static const struct command_registration target_exec_command_handlers[] = {
                .usage = "arrayname bitwidth address count",
        },
        {
-               .name = "ocd_array2mem",
+               .name = "array2mem",
                .mode = COMMAND_EXEC,
                .jim_handler = jim_array2mem,
                .help = "convert a TCL array to memory locations "
@@ -5260,15 +5516,25 @@ static const struct command_registration target_exec_command_handlers[] = {
                                "enabled to improve performance. ",
                .usage = "['enable'|'disable']",
        },
+       {
+               .name = "ps",
+               .handler = handle_ps_command,
+               .mode = COMMAND_EXEC,
+               .help = "list all tasks ",
+               .usage = " ",
+       },
+
        COMMAND_REGISTRATION_DONE
 };
-int target_register_user_commands(struct command_context *cmd_ctx)
+static int target_register_user_commands(struct command_context *cmd_ctx)
 {
        int retval = ERROR_OK;
-       if ((retval = target_request_register_commands(cmd_ctx)) != ERROR_OK)
+       retval = target_request_register_commands(cmd_ctx);
+       if (retval != ERROR_OK)
                return retval;
 
-       if ((retval = trace_register_commands(cmd_ctx)) != ERROR_OK)
+       retval = trace_register_commands(cmd_ctx);
+       if (retval != ERROR_OK)
                return retval;
 
 

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