X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Ftarget%2Fmips32_pracc.c;h=e97626cb2eb702700935c32ba4740a8beacf33c4;hp=cab5555e563689ed3199d90bf37c4636f5276fcf;hb=ba21fec2aa4b5f2e6fc3742a461cdd675cf1138d;hpb=d5e564625f72e1018f56a707b60d47a5ca9fece9

diff --git a/src/target/mips32_pracc.c b/src/target/mips32_pracc.c
index cab5555e56..e97626cb2e 100644
--- a/src/target/mips32_pracc.c
+++ b/src/target/mips32_pracc.c
@@ -22,7 +22,7 @@
  *   You should have received a copy of the GNU General Public License     *
  *   along with this program; if not, write to the                         *
  *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  ***************************************************************************/
 
 /*
@@ -56,12 +56,6 @@
  * The original code contained NOPs. I have removed these and moved
  * the branches.
  *
- * I also moved the PRACC_STACK to 0xFF204000. This allows
- * the use of 16 bits offsets to get pointers to the input
- * and output area relative to the stack. Note that the stack
- * isn't really a stack (the stack pointer is not 'moving')
- * but a FIFO simulated in software.
- *
  * These changes result in a 35% speed increase when programming an
  * external flash.
  *
@@ -81,12 +75,7 @@
 #include "mips32.h"
 #include "mips32_pracc.h"
 
-#define PRACC_FETCH 0
-#define PRACC_STORE 1
-
 struct mips32_pracc_context {
-	uint32_t *local_iparam;
-	int num_iparam;
 	uint32_t *local_oparam;
 	int num_oparam;
 	const uint32_t *code;
@@ -96,31 +85,24 @@ struct mips32_pracc_context {
 	struct mips_ejtag *ejtag_info;
 };
 
-static int mips32_pracc_sync_cache(struct mips_ejtag *ejtag_info,
-		uint32_t start_addr, uint32_t end_addr);
-static int mips32_pracc_clean_invalidate_cache(struct mips_ejtag *ejtag_info,
-		uint32_t start_addr, uint32_t end_addr);
-
 static int wait_for_pracc_rw(struct mips_ejtag *ejtag_info, uint32_t *ctrl)
 {
 	uint32_t ejtag_ctrl;
 	long long then = timeval_ms();
-	int timeout;
-	int retval;
 
 	/* wait for the PrAcc to become "1" */
 	mips_ejtag_set_instr(ejtag_info, EJTAG_INST_CONTROL);
 
 	while (1) {
 		ejtag_ctrl = ejtag_info->ejtag_ctrl;
-		retval = mips_ejtag_drscan_32(ejtag_info, &ejtag_ctrl);
+		int retval = mips_ejtag_drscan_32(ejtag_info, &ejtag_ctrl);
 		if (retval != ERROR_OK)
 			return retval;
 
 		if (ejtag_ctrl & EJTAG_CTRL_PRACC)
 			break;
 
-		timeout = timeval_ms() - then;
+		int timeout = timeval_ms() - then;
 		if (timeout > 1000) {
 			LOG_DEBUG("DEBUGMODULE: No memory access in progress!");
 			return ERROR_JTAG_DEVICE_ERROR;
@@ -131,146 +113,212 @@ static int wait_for_pracc_rw(struct mips_ejtag *ejtag_info, uint32_t *ctrl)
 	return ERROR_OK;
 }
 
-static int mips32_pracc_exec_read(struct mips32_pracc_context *ctx, uint32_t address)
+/* Shift in control and address for a new processor access, save them in ejtag_info */
+static int mips32_pracc_read_ctrl_addr(struct mips_ejtag *ejtag_info)
 {
-	struct mips_ejtag *ejtag_info = ctx->ejtag_info;
-	int offset;
-	uint32_t ejtag_ctrl, data;
-
-	if ((address >= MIPS32_PRACC_PARAM_IN)
-		&& (address < MIPS32_PRACC_PARAM_IN + ctx->num_iparam * 4)) {
-		offset = (address - MIPS32_PRACC_PARAM_IN) / 4;
-		data = ctx->local_iparam[offset];
-	} else if ((address >= MIPS32_PRACC_PARAM_OUT)
-		&& (address < MIPS32_PRACC_PARAM_OUT + ctx->num_oparam * 4)) {
-		offset = (address - MIPS32_PRACC_PARAM_OUT) / 4;
-		data = ctx->local_oparam[offset];
-	} else if ((address >= MIPS32_PRACC_TEXT)
-		&& (address < MIPS32_PRACC_TEXT + ctx->code_len * 4)) {
-		offset = (address - MIPS32_PRACC_TEXT) / 4;
-		data = ctx->code[offset];
-	} else if (address == MIPS32_PRACC_STACK) {
-		if (ctx->stack_offset <= 0) {
-			LOG_ERROR("Error: Pracc stack out of bounds");
-			return ERROR_JTAG_DEVICE_ERROR;
-		}
-		/* save to our debug stack */
-		data = ctx->stack[--ctx->stack_offset];
-	} else {
-		/* TODO: send JMP 0xFF200000 instruction. Hopefully processor jump back
-		 * to start of debug vector */
+	int retval = wait_for_pracc_rw(ejtag_info, &ejtag_info->pa_ctrl);
+	if (retval != ERROR_OK)
+		return retval;
 
-		LOG_ERROR("Error reading unexpected address 0x%8.8" PRIx32 "", address);
-		return ERROR_JTAG_DEVICE_ERROR;
-	}
+	mips_ejtag_set_instr(ejtag_info, EJTAG_INST_ADDRESS);
+	ejtag_info->pa_addr = 0;
+	retval = mips_ejtag_drscan_32(ejtag_info, &ejtag_info->pa_addr);
 
-	/* Send the data out */
-	mips_ejtag_set_instr(ctx->ejtag_info, EJTAG_INST_DATA);
-	mips_ejtag_drscan_32_out(ctx->ejtag_info, data);
+	return retval;
+}
 
-	/* Clear the access pending bit (let the processor eat!) */
-	ejtag_ctrl = ejtag_info->ejtag_ctrl & ~EJTAG_CTRL_PRACC;
-	mips_ejtag_set_instr(ctx->ejtag_info, EJTAG_INST_CONTROL);
-	mips_ejtag_drscan_32_out(ctx->ejtag_info, ejtag_ctrl);
+/* Finish processor access */
+static int mips32_pracc_finish(struct mips_ejtag *ejtag_info)
+{
+	uint32_t ctrl = ejtag_info->ejtag_ctrl & ~EJTAG_CTRL_PRACC;
+	mips_ejtag_set_instr(ejtag_info, EJTAG_INST_CONTROL);
+	mips_ejtag_drscan_32_out(ejtag_info, ctrl);
 
 	return jtag_execute_queue();
 }
 
-static int mips32_pracc_exec_write(struct mips32_pracc_context *ctx, uint32_t address)
+int mips32_pracc_clean_text_jump(struct mips_ejtag *ejtag_info)
 {
-	uint32_t ejtag_ctrl, data;
-	int offset;
-	struct mips_ejtag *ejtag_info = ctx->ejtag_info;
+	uint32_t jt_code = MIPS32_J((0x0FFFFFFF & MIPS32_PRACC_TEXT) >> 2);
 	int retval;
 
-	mips_ejtag_set_instr(ctx->ejtag_info, EJTAG_INST_DATA);
-	retval = mips_ejtag_drscan_32(ctx->ejtag_info, &data);
-	if (retval != ERROR_OK)
-		return retval;
+	/* do 3 0/nops to clean pipeline before a jump to pracc text, NOP in delay slot */
+	for (int i = 0; i != 5; i++) {
+		/* Wait for pracc */
+		retval = wait_for_pracc_rw(ejtag_info, &ejtag_info->pa_ctrl);
+		if (retval != ERROR_OK)
+			return retval;
 
-	/* Clear access pending bit */
-	ejtag_ctrl = ejtag_info->ejtag_ctrl & ~EJTAG_CTRL_PRACC;
-	mips_ejtag_set_instr(ctx->ejtag_info, EJTAG_INST_CONTROL);
-	mips_ejtag_drscan_32_out(ctx->ejtag_info, ejtag_ctrl);
+		/* Data or instruction out */
+		mips_ejtag_set_instr(ejtag_info, EJTAG_INST_DATA);
+		uint32_t data = (i == 3) ? jt_code : MIPS32_NOP;
+		mips_ejtag_drscan_32_out(ejtag_info, data);
 
-	retval = jtag_execute_queue();
+		/* finish pa */
+		retval = mips32_pracc_finish(ejtag_info);
+		if (retval != ERROR_OK)
+			return retval;
+	}
+
+	if (ejtag_info->mode != 0)	/* done, queued mode won't work with lexra cores */
+		return ERROR_OK;
+
+	retval = mips32_pracc_read_ctrl_addr(ejtag_info);
 	if (retval != ERROR_OK)
 		return retval;
 
-	if ((address >= MIPS32_PRACC_PARAM_OUT)
-		&& (address < MIPS32_PRACC_PARAM_OUT + ctx->num_oparam * 4)) {
-		offset = (address - MIPS32_PRACC_PARAM_OUT) / 4;
-		ctx->local_oparam[offset] = data;
-	} else if (address == MIPS32_PRACC_STACK) {
-		if (ctx->stack_offset >= 32) {
-			LOG_ERROR("Error: Pracc stack out of bounds");
-			return ERROR_JTAG_DEVICE_ERROR;
-		}
-		/* save data onto our stack */
-		ctx->stack[ctx->stack_offset++] = data;
-	} else {
-		LOG_ERROR("Error writing unexpected address 0x%8.8" PRIx32 "", address);
-		return ERROR_JTAG_DEVICE_ERROR;
+	if (ejtag_info->pa_addr != MIPS32_PRACC_TEXT) {			/* LEXRA/BMIPS ?, shift out another NOP */
+		mips_ejtag_set_instr(ejtag_info, EJTAG_INST_DATA);
+		mips_ejtag_drscan_32_out(ejtag_info, MIPS32_NOP);
+		retval = mips32_pracc_finish(ejtag_info);
+		if (retval != ERROR_OK)
+			return retval;
 	}
 
 	return ERROR_OK;
 }
 
-int mips32_pracc_exec(struct mips_ejtag *ejtag_info, int code_len, const uint32_t *code,
-		int num_param_in, uint32_t *param_in, int num_param_out, uint32_t *param_out, int cycle)
+int mips32_pracc_exec(struct mips_ejtag *ejtag_info, struct pracc_queue_info *ctx, uint32_t *param_out)
 {
-	uint32_t ejtag_ctrl;
-	uint32_t address;
-	struct mips32_pracc_context ctx;
+	int code_count = 0;
+	int store_pending = 0;		/* increases with every store instruction at dmseg, decreases with every store pa */
+	uint32_t max_store_addr = 0;	/* for store pa address testing */
+	bool restart = 0;		/* restarting control */
+	int restart_count = 0;
+	uint32_t instr = 0;
+	bool final_check = 0;		/* set to 1 if in final checks after function code shifted out */
+	bool pass = 0;			/* to check the pass through pracc text after function code sent */
 	int retval;
-	int pass = 0;
-
-	ctx.local_iparam = param_in;
-	ctx.local_oparam = param_out;
-	ctx.num_iparam = num_param_in;
-	ctx.num_oparam = num_param_out;
-	ctx.code = code;
-	ctx.code_len = code_len;
-	ctx.ejtag_info = ejtag_info;
-	ctx.stack_offset = 0;
 
 	while (1) {
-		retval = wait_for_pracc_rw(ejtag_info, &ejtag_ctrl);
-		if (retval != ERROR_OK)
-			return retval;
+		if (restart) {
+			if (restart_count < 3) {					/* max 3 restarts allowed */
+				retval = mips32_pracc_clean_text_jump(ejtag_info);
+				if (retval != ERROR_OK)
+					return retval;
+			} else
+				return ERROR_JTAG_DEVICE_ERROR;
+			restart_count++;
+			restart = 0;
+			code_count = 0;
+			LOG_DEBUG("restarting code");
+		}
 
-		address = 0;
-		mips_ejtag_set_instr(ejtag_info, EJTAG_INST_ADDRESS);
-		retval = mips_ejtag_drscan_32(ejtag_info, &address);
+		retval = mips32_pracc_read_ctrl_addr(ejtag_info);		/* update current pa info: control and address */
 		if (retval != ERROR_OK)
 			return retval;
 
-		/* Check for read or write */
-		if (ejtag_ctrl & EJTAG_CTRL_PRNW) {
-			retval = mips32_pracc_exec_write(&ctx, address);
-			if (retval != ERROR_OK)
-				return retval;
-		} else {
-			/* Check to see if its reading at the debug vector. The first pass through
-			 * the module is always read at the vector, so the first one we allow.  When
-			 * the second read from the vector occurs we are done and just exit. */
-			if ((address == MIPS32_PRACC_TEXT) && (pass++))
-				break;
+		/* Check for read or write access */
+		if (ejtag_info->pa_ctrl & EJTAG_CTRL_PRNW) {						/* write/store access */
+			/* Check for pending store from a previous store instruction at dmseg */
+			if (store_pending == 0) {
+				LOG_DEBUG("unexpected write at address %" PRIx32, ejtag_info->pa_addr);
+				if (code_count < 2) {	/* allow for restart */
+					restart = 1;
+					continue;
+				} else
+					return ERROR_JTAG_DEVICE_ERROR;
+			} else {
+				/* check address */
+				if (ejtag_info->pa_addr < MIPS32_PRACC_PARAM_OUT || ejtag_info->pa_addr > max_store_addr) {
 
-			retval = mips32_pracc_exec_read(&ctx, address);
+					LOG_DEBUG("writing at unexpected address %" PRIx32, ejtag_info->pa_addr);
+					return ERROR_JTAG_DEVICE_ERROR;
+				}
+			}
+			/* read data */
+			uint32_t data = 0;
+			mips_ejtag_set_instr(ejtag_info, EJTAG_INST_DATA);
+			retval = mips_ejtag_drscan_32(ejtag_info, &data);
 			if (retval != ERROR_OK)
 				return retval;
-		}
 
-		if (cycle == 0)
-			break;
-	}
+			/* store data at param out, address based offset */
+			param_out[(ejtag_info->pa_addr - MIPS32_PRACC_PARAM_OUT) / 4] = data;
+			store_pending--;
+
+		} else {					/* read/fetch access */
+			 if (!final_check) {			/* executing function code */
+				/* check address */
+				if (ejtag_info->pa_addr != (MIPS32_PRACC_TEXT + code_count * 4)) {
+					LOG_DEBUG("reading at unexpected address %" PRIx32 ", expected %x",
+							ejtag_info->pa_addr, MIPS32_PRACC_TEXT + code_count * 4);
+
+					/* restart code execution only in some cases */
+					if (code_count == 1 && ejtag_info->pa_addr == MIPS32_PRACC_TEXT && restart_count == 0) {
+						LOG_DEBUG("restarting, without clean jump");
+						restart_count++;
+						code_count = 0;
+						continue;
+					} else if (code_count < 2) {
+						restart = 1;
+						continue;
+					}
+
+					return ERROR_JTAG_DEVICE_ERROR;
+				}
+				/* check for store instruction at dmseg */
+				uint32_t store_addr = ctx->pracc_list[ctx->max_code + code_count];
+				if (store_addr != 0) {
+					if (store_addr > max_store_addr)
+						max_store_addr = store_addr;
+					store_pending++;
+				}
 
-	/* stack sanity check */
-	if (ctx.stack_offset != 0)
-		LOG_DEBUG("Pracc Stack not zero");
+				instr = ctx->pracc_list[code_count++];
+				if (code_count == ctx->code_count)	/* last instruction, start final check */
+					final_check = 1;
+
+			 } else {	/* final check after function code shifted out */
+					/* check address */
+				if (ejtag_info->pa_addr == MIPS32_PRACC_TEXT) {
+					if (!pass) {	/* first pass through pracc text */
+						if (store_pending == 0)		/* done, normal exit */
+							return ERROR_OK;
+						pass = 1;		/* pracc text passed */
+						code_count = 0;		/* restart code count */
+					} else {
+						LOG_DEBUG("unexpected second pass through pracc text");
+						return ERROR_JTAG_DEVICE_ERROR;
+					}
+				} else {
+					if (ejtag_info->pa_addr != (MIPS32_PRACC_TEXT + code_count * 4)) {
+						LOG_DEBUG("unexpected read address in final check: %" PRIx32 ", expected: %x",
+							  ejtag_info->pa_addr, MIPS32_PRACC_TEXT + code_count * 4);
+						return ERROR_JTAG_DEVICE_ERROR;
+					}
+				}
+				if (!pass) {
+					if ((code_count - ctx->code_count) > 1) {	 /* allow max 2 instruction delay slot */
+						LOG_DEBUG("failed to jump back to pracc text");
+						return ERROR_JTAG_DEVICE_ERROR;
+					}
+				} else
+					if (code_count > 10) {		/* enough, abandone */
+						LOG_DEBUG("execution abandoned, store pending: %d", store_pending);
+						return ERROR_JTAG_DEVICE_ERROR;
+					}
+				instr = MIPS32_NOP;	/* shift out NOPs instructions */
+				code_count++;
+			 }
+
+			/* Send instruction out */
+			mips_ejtag_set_instr(ejtag_info, EJTAG_INST_DATA);
+			mips_ejtag_drscan_32_out(ejtag_info, instr);
+		}
+		/* finish processor access, let the processor eat! */
+		retval = mips32_pracc_finish(ejtag_info);
+		if (retval != ERROR_OK)
+			return retval;
 
-	return ERROR_OK;
+		if (instr == MIPS32_DRET)	/* after leaving debug mode nothing to do */
+			return ERROR_OK;
+
+		if (store_pending == 0 && pass) {	/* store access done, but after passing pracc text */
+			LOG_DEBUG("warning: store access pass pracc text");
+			return ERROR_OK;
+		}
+	}
 }
 
 inline void pracc_queue_init(struct pracc_queue_info *ctx)
@@ -305,8 +353,7 @@ inline void pracc_queue_free(struct pracc_queue_info *ctx)
 int mips32_pracc_queue_exec(struct mips_ejtag *ejtag_info, struct pracc_queue_info *ctx, uint32_t *buf)
 {
 	if (ejtag_info->mode == 0)
-		return mips32_pracc_exec(ejtag_info, ctx->code_count, ctx->pracc_list, 0, NULL,
-				  ctx->store_count, buf, ctx->code_count - 1);
+		return mips32_pracc_exec(ejtag_info, ctx, buf);
 
 	union scan_in {
 		uint8_t scan_96[12];
@@ -371,7 +418,7 @@ int mips32_pracc_queue_exec(struct mips_ejtag *ejtag_info, struct pracc_queue_in
 				goto exit;
 			}
 			if (addr != store_addr) {
-				LOG_ERROR("Store address mismatch, read: %x expected: %x count: %d",
+				LOG_ERROR("Store address mismatch, read: %" PRIx32 " expected: %" PRIx32 " count: %d",
 						addr, store_addr, scan_count);
 				retval = ERROR_FAIL;
 				goto exit;
@@ -386,7 +433,8 @@ int mips32_pracc_queue_exec(struct mips_ejtag *ejtag_info, struct pracc_queue_in
 				goto exit;
 			}
 			if (addr != fetch_addr) {
-				LOG_ERROR("Fetch addr mismatch, read: %x expected: %x count: %d", addr, fetch_addr, scan_count);
+				LOG_ERROR("Fetch addr mismatch, read: %" PRIx32 " expected: %" PRIx32 " count: %d",
+					  addr, fetch_addr, scan_count);
 				retval = ERROR_FAIL;
 				goto exit;
 			}
@@ -401,12 +449,11 @@ exit:
 
 int mips32_pracc_read_u32(struct mips_ejtag *ejtag_info, uint32_t addr, uint32_t *buf)
 {
-	struct pracc_queue_info ctx = {.max_code = 9};
+	struct pracc_queue_info ctx = {.max_code = 8};
 	pracc_queue_init(&ctx);
 	if (ctx.retval != ERROR_OK)
 		goto exit;
 
-	pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* move $15 to COP0 DeSave */
 	pracc_add(&ctx, 0, MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR));			/* $15 = MIPS32_PRACC_BASE_ADDR */
 	pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16((addr + 0x8000))));		/* load  $8 with modified upper address */
 	pracc_add(&ctx, 0, MIPS32_LW(8, LOWER16(addr), 8));				/* lw $8, LOWER16(addr)($8) */
@@ -429,7 +476,7 @@ int mips32_pracc_read_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size
 		return mips32_pracc_read_u32(ejtag_info, addr, (uint32_t *)buf);
 
 	uint32_t *data = NULL;
-	struct pracc_queue_info ctx = {.max_code = 256 * 3 + 9 + 1};	/* alloc memory for the worst case */
+	struct pracc_queue_info ctx = {.max_code = 256 * 3 + 8 + 1};	/* alloc memory for the worst case */
 	pracc_queue_init(&ctx);
 	if (ctx.retval != ERROR_OK)
 		goto exit;
@@ -452,7 +499,6 @@ int mips32_pracc_read_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size
 		int this_round_count = (count > 256) ? 256 : count;
 		uint32_t last_upper_base_addr = UPPER16((addr + 0x8000));
 
-		pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* save $15 in DeSave */
 		pracc_add(&ctx, 0, MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR));			/* $15 = MIPS32_PRACC_BASE_ADDR */
 		pracc_add(&ctx, 0, MIPS32_LUI(9, last_upper_base_addr));		/* load the upper memory address in $9 */
 
@@ -511,12 +557,11 @@ exit:
 
 int mips32_cp0_read(struct mips_ejtag *ejtag_info, uint32_t *val, uint32_t cp0_reg, uint32_t cp0_sel)
 {
-	struct pracc_queue_info ctx = {.max_code = 8};
+	struct pracc_queue_info ctx = {.max_code = 7};
 	pracc_queue_init(&ctx);
 	if (ctx.retval != ERROR_OK)
 		goto exit;
 
-	pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* move $15 to COP0 DeSave */
 	pracc_add(&ctx, 0, MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR));			/* $15 = MIPS32_PRACC_BASE_ADDR */
 	pracc_add(&ctx, 0, MIPS32_MFC0(8, 0, 0) | (cp0_reg << 11) | cp0_sel);	/* move COP0 [cp0_reg select] to $8 */
 	pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT,
@@ -551,25 +596,29 @@ exit:
 
 int mips32_cp0_write(struct mips_ejtag *ejtag_info, uint32_t val, uint32_t cp0_reg, uint32_t cp0_sel)
 {
-	uint32_t code[] = {
-															/* start: */
-		MIPS32_MTC0(15, 31, 0),							/* move $15 to COP0 DeSave */
-		MIPS32_LUI(15, UPPER16(val)),						/* Load val to $15 */
-		MIPS32_ORI(15, 15, LOWER16(val)),
+	struct pracc_queue_info ctx = {.max_code = 6};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
 
-		/* 3 */ MIPS32_MTC0(15, 0, 0),						/* move $15 to COP0 [cp0_reg select] */
+	pracc_add(&ctx, 0, MIPS32_LUI(15, UPPER16(val)));				/* Load val to $15 */
+	pracc_add(&ctx, 0, MIPS32_ORI(15, 15, LOWER16(val)));
 
-		MIPS32_B(NEG16(5)),							/* b start */
-		MIPS32_MFC0(15, 31, 0),							/* move COP0 DeSave to $15 */
-	};
+	pracc_add(&ctx, 0, MIPS32_MTC0(15, 0, 0) | (cp0_reg << 11) | cp0_sel);	/* write cp0 reg / sel */
+
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));					/* move COP0 DeSave to $15 */
+
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 
 	/**
 	 * Note that MIPS32_MTC0 macro is implemented via MIPS32_R_INST macro.
 	 * In order to insert our parameters, we must change rd and funct fields.
-	 */
-	code[3] |= (cp0_reg << 11) | cp0_sel;  /* change rd and funct fields of MIPS32_R_INST macro */
-
-	return mips32_pracc_exec(ejtag_info, ARRAY_SIZE(code), code, 0, NULL, 0, NULL, 1);
+	 * code[3] |= (cp0_reg << 11) | cp0_sel;   change rd and funct fields of MIPS32_R_INST macro
+	 **/
 }
 
 /**
@@ -590,236 +639,194 @@ int mips32_cp0_write(struct mips_ejtag *ejtag_info, uint32_t val, uint32_t cp0_r
  * to write back any containing D-cache line and invalidate any locations
  * already in the I-cache.
  *
- * You can do that with cache instructions, but those instructions are only available in kernel mode,
- * and a loader writing instructions for the use of its own process need not be privileged software.
+ * If the cache coherency attribute (CCA) is set to zero, it's a write through cache, there is no need
+ * to write back.
  *
  * In the latest MIPS32/64 CPUs, MIPS provides the synci instruction,
  * which does the whole job for a cache-line-sized chunk of the memory you just loaded:
- * That is, it arranges a D-cache write-back and an I-cache invalidate.
+ * That is, it arranges a D-cache write-back (if CCA = 3) and an I-cache invalidate.
  *
- * To employ synci at user level, you need to know the size of a cache line,
- * and that can be obtained with a rdhwr SYNCI_Step
- * from one of the standard “hardware registers”.
+ * The line size is obtained with the rdhwr SYNCI_Step in release 2 or from cp0 config 1 register in release 1.
  */
-static int mips32_pracc_sync_cache(struct mips_ejtag *ejtag_info,
-		uint32_t start_addr, uint32_t end_addr)
+static int mips32_pracc_synchronize_cache(struct mips_ejtag *ejtag_info,
+					 uint32_t start_addr, uint32_t end_addr, int cached, int rel)
 {
-	static const uint32_t code[] = {
-															/* start: */
-		MIPS32_MTC0(15, 31, 0),								/* move $15 to COP0 DeSave */
-		MIPS32_LUI(15, UPPER16(MIPS32_PRACC_STACK)),		/* $15 = MIPS32_PRACC_STACK */
-		MIPS32_ORI(15, 15, LOWER16(MIPS32_PRACC_STACK)),
-		MIPS32_SW(8, 0, 15),								/* sw $8,($15) */
-		MIPS32_SW(9, 0, 15),								/* sw $9,($15) */
-		MIPS32_SW(10, 0, 15),								/* sw $10,($15) */
-		MIPS32_SW(11, 0, 15),								/* sw $11,($15) */
-
-		MIPS32_LUI(8, UPPER16(MIPS32_PRACC_PARAM_IN)),		/* $8 = MIPS32_PRACC_PARAM_IN */
-		MIPS32_ORI(8, 8, LOWER16(MIPS32_PRACC_PARAM_IN)),
-		MIPS32_LW(9, 0, 8),									/* Load write start_addr to $9 */
-		MIPS32_LW(10, 4, 8),								/* Load write end_addr to $10 */
-
-		MIPS32_RDHWR(11, MIPS32_SYNCI_STEP),				/* $11 = MIPS32_SYNCI_STEP */
-		MIPS32_BEQ(11, 0, 6),								/* beq $11, $0, end */
-		MIPS32_NOP,
-															/* synci_loop : */
-		MIPS32_SYNCI(0, 9),									/* synci 0($9) */
-		MIPS32_SLTU(8, 10, 9),								/* sltu $8, $10, $9  # $8 = $10 < $9 ? 1 : 0 */
-		MIPS32_BNE(8, 0, NEG16(3)),							/* bne $8, $0, synci_loop */
-		MIPS32_ADDU(9, 9, 11),								/* $9 += MIPS32_SYNCI_STEP */
-		MIPS32_SYNC,
-															/* end: */
-		MIPS32_LW(11, 0, 15),								/* lw $11,($15) */
-		MIPS32_LW(10, 0, 15),								/* lw $10,($15) */
-		MIPS32_LW(9, 0, 15),								/* lw $9,($15) */
-		MIPS32_LW(8, 0, 15),								/* lw $8,($15) */
-		MIPS32_B(NEG16(24)),								/* b start */
-		MIPS32_MFC0(15, 31, 0),								/* move COP0 DeSave to $15 */
-	};
+	struct pracc_queue_info ctx = {.max_code = 256 * 2 + 5};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
+	/** Find cache line size in bytes */
+	uint32_t clsiz;
+	if (rel) {	/* Release 2 (rel = 1) */
+		pracc_add(&ctx, 0, MIPS32_LUI(15, PRACC_UPPER_BASE_ADDR));			/* $15 = MIPS32_PRACC_BASE_ADDR */
 
-	/* TODO remove array */
-	uint32_t *param_in = malloc(2 * sizeof(uint32_t));
-	int retval;
-	param_in[0] = start_addr;
-	param_in[1] = end_addr;
+		pracc_add(&ctx, 0, MIPS32_RDHWR(8, MIPS32_SYNCI_STEP));			/* load synci_step value to $8 */
 
-	retval = mips32_pracc_exec(ejtag_info, ARRAY_SIZE(code), code, 2, param_in, 0, NULL, 1);
+		pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT,
+				MIPS32_SW(8, PRACC_OUT_OFFSET, 15));			/* store $8 to pracc_out */
 
-	free(param_in);
+		pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(ejtag_info->reg8)));			/* restore upper 16 bits  of $8 */
+		pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(ejtag_info->reg8)));		/* restore lower 16 bits of $8 */
+		pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+		pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));					/* move COP0 DeSave to $15 */
 
-	return retval;
-}
+		ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, &clsiz);
+		if (ctx.retval != ERROR_OK)
+			goto exit;
 
-/**
- * \b mips32_pracc_clean_invalidate_cache
- *
- * Writeback D$ and Invalidate I$
- * so that the instructions written can be visible to CPU
- */
-static int mips32_pracc_clean_invalidate_cache(struct mips_ejtag *ejtag_info,
-													uint32_t start_addr, uint32_t end_addr)
-{
-	static const uint32_t code[] = {
-															/* start: */
-		MIPS32_MTC0(15, 31, 0),								/* move $15 to COP0 DeSave */
-		MIPS32_LUI(15, UPPER16(MIPS32_PRACC_STACK)),		/* $15 = MIPS32_PRACC_STACK */
-		MIPS32_ORI(15, 15, LOWER16(MIPS32_PRACC_STACK)),
-		MIPS32_SW(8, 0, 15),								/* sw $8,($15) */
-		MIPS32_SW(9, 0, 15),								/* sw $9,($15) */
-		MIPS32_SW(10, 0, 15),								/* sw $10,($15) */
-		MIPS32_SW(11, 0, 15),								/* sw $11,($15) */
-
-		MIPS32_LUI(8, UPPER16(MIPS32_PRACC_PARAM_IN)),		/* $8 = MIPS32_PRACC_PARAM_IN */
-		MIPS32_ORI(8, 8, LOWER16(MIPS32_PRACC_PARAM_IN)),
-		MIPS32_LW(9, 0, 8),									/* Load write start_addr to $9 */
-		MIPS32_LW(10, 4, 8),								/* Load write end_addr to $10 */
-		MIPS32_LW(11, 8, 8),								/* Load write clsiz to $11 */
-
-															/* cache_loop: */
-		MIPS32_SLTU(8, 10, 9),								/* sltu $8, $10, $9  :  $8 <- $10 < $9 ? */
-		MIPS32_BGTZ(8, 6),									/* bgtz $8, end */
-		MIPS32_NOP,
+	} else {			/* Release 1 (rel = 0) */
+		uint32_t conf;
+		ctx.retval = mips32_cp0_read(ejtag_info, &conf, 16, 1);
+		if (ctx.retval != ERROR_OK)
+			goto exit;
 
-		MIPS32_CACHE(MIPS32_CACHE_D_HIT_WRITEBACK, 0, 9),		/* cache Hit_Writeback_D, 0($9) */
-		MIPS32_CACHE(MIPS32_CACHE_I_HIT_INVALIDATE, 0, 9),	/* cache Hit_Invalidate_I, 0($9) */
+		uint32_t dl = (conf & MIPS32_CONFIG1_DL_MASK) >> MIPS32_CONFIG1_DL_SHIFT;
 
-		MIPS32_ADDU(9, 9, 11),								/* $9 += $11 */
+		/* dl encoding : dl=1 => 4 bytes, dl=2 => 8 bytes, etc... max dl=6 => 128 bytes cache line size */
+		clsiz = 0x2 << dl;
+		if (dl == 0)
+			clsiz = 0;
+	}
 
-		MIPS32_B(NEG16(7)),									/* b cache_loop */
-		MIPS32_NOP,
-															/* end: */
-		MIPS32_LW(11, 0, 15),								/* lw $11,($15) */
-		MIPS32_LW(10, 0, 15),								/* lw $10,($15) */
-		MIPS32_LW(9, 0, 15),								/* lw $9,($15) */
-		MIPS32_LW(8, 0, 15),								/* lw $8,($15) */
-		MIPS32_B(NEG16(25)),								/* b start */
-		MIPS32_MFC0(15, 31, 0),								/* move COP0 DeSave to $15 */
-	};
+	if (clsiz == 0)
+		goto exit;  /* Nothing to do */
 
-	/**
-	 * Find cache line size in bytes
-	 */
-	uint32_t conf;
-	uint32_t dl, clsiz;
+	/* make sure clsiz is power of 2 */
+	if (clsiz & (clsiz - 1)) {
+		LOG_DEBUG("clsiz must be power of 2");
+		ctx.retval = ERROR_FAIL;
+		goto exit;
+	}
 
-	mips32_cp0_read(ejtag_info, &conf, 16, 1);
-	dl = (conf & MIPS32_CONFIG1_DL_MASK) >> MIPS32_CONFIG1_DL_SHIFT;
+	/* make sure start_addr and end_addr have the same offset inside de cache line */
+	start_addr |= clsiz - 1;
+	end_addr |= clsiz - 1;
 
-	/* dl encoding : dl=1 => 4 bytes, dl=2 => 8 bytes, etc... */
-	clsiz = 0x2 << dl;
+	ctx.code_count = 0;
+	int count = 0;
+	uint32_t last_upper_base_addr = UPPER16((start_addr + 0x8000));
 
-	/* TODO remove array */
-	uint32_t *param_in = malloc(3 * sizeof(uint32_t));
-	int retval;
-	param_in[0] = start_addr;
-	param_in[1] = end_addr;
-	param_in[2] = clsiz;
+	pracc_add(&ctx, 0, MIPS32_LUI(15, last_upper_base_addr));		/* load upper memory base address to $15 */
 
-	retval = mips32_pracc_exec(ejtag_info, ARRAY_SIZE(code), code, 3, param_in, 0, NULL, 1);
+	while (start_addr <= end_addr) {						/* main loop */
+		uint32_t upper_base_addr = UPPER16((start_addr + 0x8000));
+		if (last_upper_base_addr != upper_base_addr) {				/* if needed, change upper address in $15 */
+			pracc_add(&ctx, 0, MIPS32_LUI(15, upper_base_addr));
+			last_upper_base_addr = upper_base_addr;
+		}
+		if (rel)
+			pracc_add(&ctx, 0, MIPS32_SYNCI(LOWER16(start_addr), 15));		/* synci instruction, offset($15) */
 
-	free(param_in);
+		else {
+			if (cached == 3)
+				pracc_add(&ctx, 0, MIPS32_CACHE(MIPS32_CACHE_D_HIT_WRITEBACK,
+							LOWER16(start_addr), 15));		/* cache Hit_Writeback_D, offset($15) */
 
-	return retval;
-}
+			pracc_add(&ctx, 0, MIPS32_CACHE(MIPS32_CACHE_I_HIT_INVALIDATE,
+							LOWER16(start_addr), 15));		/* cache Hit_Invalidate_I, offset($15) */
+		}
+		start_addr += clsiz;
+		count++;
+		if (count == 256 && start_addr <= end_addr) {				/* more ?, then execute code list */
+			pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));		/* jump to start */
+			pracc_add(&ctx, 0, MIPS32_NOP);						/* nop in delay slot */
 
-static int mips32_pracc_write_mem_generic(struct mips_ejtag *ejtag_info, uint32_t addr, int size, int count, void *buf)
-{
-	uint32_t *code;
-	code = malloc((128 * 3 + 9) * sizeof(uint32_t));	/* alloc memory for the worst case */
-	if (code == NULL) {
-		LOG_ERROR("Out of memory");
-		return ERROR_FAIL;
+			ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
+			if (ctx.retval != ERROR_OK)
+				goto exit;
+
+			ctx.code_count = 0;
+			count = 0;
+		}
 	}
+	pracc_add(&ctx, 0, MIPS32_SYNC);
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));					/* restore $15 from DeSave*/
 
-	uint32_t *buf32 = buf;
-	uint16_t *buf16 = buf;
-	uint8_t *buf8 = buf;
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
+}
 
-	int i;
-	int retval = ERROR_FAIL;
-	uint32_t *code_p;
-	uint32_t upper_base_addr, last_upper_base_addr;
-	int this_round_count;
-	int code_len;
+static int mips32_pracc_write_mem_generic(struct mips_ejtag *ejtag_info,
+		uint32_t addr, int size, int count, const void *buf)
+{
+	struct pracc_queue_info ctx = {.max_code = 128 * 3 + 5 + 1};	/* alloc memory for the worst case */
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
+
+	const uint32_t *buf32 = buf;
+	const uint16_t *buf16 = buf;
+	const uint8_t *buf8 = buf;
 
 	while (count) {
-		this_round_count = (count > 128) ? 128 : count;
-		last_upper_base_addr = UPPER16((addr + 0x8000));
-		code_p = code;
+		ctx.code_count = 0;
+		ctx.store_count = 0;
+		int this_round_count = (count > 128) ? 128 : count;
+		uint32_t last_upper_base_addr = UPPER16((addr + 0x8000));
 
-		*code_p++ = MIPS32_MTC0(15, 31, 0);					/* save $15 in DeSave */
-		*code_p++ = MIPS32_LUI(15, last_upper_base_addr);			/* load $15 with memory base address */
-		code_len = 2;
+		pracc_add(&ctx, 0, MIPS32_LUI(15, last_upper_base_addr));		/* load $15 with memory base address */
 
-		for (i = 0; i != this_round_count; i++) {
-			upper_base_addr = UPPER16((addr + 0x8000));
+		for (int i = 0; i != this_round_count; i++) {
+			uint32_t upper_base_addr = UPPER16((addr + 0x8000));
 			if (last_upper_base_addr != upper_base_addr) {
-				*code_p++ = MIPS32_LUI(15, upper_base_addr);		/* if needed, change upper address in $15*/
-				code_len++;
+				pracc_add(&ctx, 0, MIPS32_LUI(15, upper_base_addr));	/* if needed, change upper address in $15*/
 				last_upper_base_addr = upper_base_addr;
 			}
 
-			if (size == 4) {	/* for word write check if one half word is 0 and load it accordingly */
-				if (LOWER16(*buf32) == 0) {
-					*code_p++ = MIPS32_LUI(8, UPPER16(*buf32));		/* load only upper value */
-					code_len++;
-				} else if (UPPER16(*buf32) == 0) {
-					*code_p++ = MIPS32_ORI(8, 0, LOWER16(*buf32));		/* load only lower value */
-					code_len++;
-				} else {
-					*code_p++ = MIPS32_LUI(8, UPPER16(*buf32));		/* load upper and lower */
-					*code_p++ = MIPS32_ORI(8, 8, LOWER16(*buf32));
-					code_len += 2;
+			if (size == 4) {			/* for word writes check if one half word is 0 and load it accordingly */
+				if (LOWER16(*buf32) == 0)
+					pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(*buf32)));		/* load only upper value */
+				else if (UPPER16(*buf32) == 0)
+						pracc_add(&ctx, 0, MIPS32_ORI(8, 0, LOWER16(*buf32)));	/* load only lower */
+				else {
+					pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(*buf32)));		/* load upper and lower */
+					pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(*buf32)));
 				}
-				*code_p++ = MIPS32_SW(8, LOWER16(addr), 15);			/* store word to memory */
-				code_len++;
+				pracc_add(&ctx, 0, MIPS32_SW(8, LOWER16(addr), 15));		/* store word to memory */
 				buf32++;
 
 			} else if (size == 2) {
-				*code_p++ = MIPS32_ORI(8, 0, *buf16);				/* load lower value */
-				*code_p++ = MIPS32_SH(8, LOWER16(addr), 15);		/* store half word to memory */
-				code_len += 2;
+				pracc_add(&ctx, 0, MIPS32_ORI(8, 0, *buf16));		/* load lower value */
+				pracc_add(&ctx, 0, MIPS32_SH(8, LOWER16(addr), 15));	/* store half word to memory */
 				buf16++;
 
 			} else {
-				*code_p++ = MIPS32_ORI(8, 0, *buf8);				/* load lower value */
-				*code_p++ = MIPS32_SB(8, LOWER16(addr), 15);			/* store byte to memory */
-				code_len += 2;
+				pracc_add(&ctx, 0, MIPS32_ORI(8, 0, *buf8));		/* load lower value */
+				pracc_add(&ctx, 0, MIPS32_SB(8, LOWER16(addr), 15));	/* store byte to memory */
 				buf8++;
 			}
-
 			addr += size;
 		}
 
-		*code_p++ = MIPS32_LUI(8, UPPER16(ejtag_info->reg8)),			/* restore upper 16 bits of reg 8 */
-		*code_p++ = MIPS32_ORI(8, 8, LOWER16(ejtag_info->reg8)),		/* restore lower 16 bits of reg 8 */
+		pracc_add(&ctx, 0, MIPS32_LUI(8, UPPER16(ejtag_info->reg8)));		/* restore upper 16 bits of reg 8 */
+		pracc_add(&ctx, 0, MIPS32_ORI(8, 8, LOWER16(ejtag_info->reg8)));	/* restore lower 16 bits of reg 8 */
 
-		code_len += 4;
-		*code_p++ = MIPS32_B(NEG16(code_len - 1));					/* jump to start */
-		*code_p = MIPS32_MFC0(15, 31, 0);					/* restore $15 from DeSave */
+		pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));				/* jump to start */
+		pracc_add(&ctx, 0, MIPS32_MFC0(15, 31, 0));				/* restore $15 from DeSave */
 
-		retval = mips32_pracc_exec(ejtag_info, code_len, code, 0, NULL, 0, NULL, 1);
-		if (retval != ERROR_OK)
+		ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
+		if (ctx.retval != ERROR_OK)
 			goto exit;
-
 		count -= this_round_count;
 	}
-
 exit:
-	free(code);
-	return retval;
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 }
 
-int mips32_pracc_write_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size, int count, void *buf)
+int mips32_pracc_write_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int size, int count, const void *buf)
 {
 	int retval = mips32_pracc_write_mem_generic(ejtag_info, addr, size, count, buf);
 	if (retval != ERROR_OK)
 		return retval;
 
 	/**
-	 * If we are in the cachable regoion and cache is activated,
-	 * we must clean D$ + invalidate I$ after we did the write,
-	 * so that changes do not continue to live only in D$, but to be
+	 * If we are in the cacheable region and cache is activated,
+	 * we must clean D$ (if Cache Coherency Attribute is set to 3) + invalidate I$ after we did the write,
+	 * so that changes do not continue to live only in D$ (if CCA = 3), but to be
 	 * replicated in I$ also (maybe we wrote the istructions)
 	 */
 	uint32_t conf = 0;
@@ -847,32 +854,19 @@ int mips32_pracc_write_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int siz
 	}
 
 	/**
-	 * Check cachablitiy bits coherency algorithm -
+	 * Check cachablitiy bits coherency algorithm
 	 * is the region cacheable or uncached.
 	 * If cacheable we have to synchronize the cache
 	 */
-	if (cached == 0x3) {
-		uint32_t start_addr, end_addr;
-		uint32_t rel;
-
-		start_addr = addr;
-		end_addr = addr + count * size;
-
-		/** select cache synchronisation mechanism based on Architecture Release */
-		rel = (conf & MIPS32_CONFIG0_AR_MASK) >> MIPS32_CONFIG0_AR_SHIFT;
-		switch (rel) {
-			case MIPS32_ARCH_REL1:
-				/* MIPS32/64 Release 1 - we must use cache instruction */
-				mips32_pracc_clean_invalidate_cache(ejtag_info, start_addr, end_addr);
-				break;
-			case MIPS32_ARCH_REL2:
-				/* MIPS32/64 Release 2 - we can use synci instruction */
-				mips32_pracc_sync_cache(ejtag_info, start_addr, end_addr);
-				break;
-			default:
-				/* what ? */
-				break;
+	if (cached == 3 || cached == 0) {		/* Write back cache or write through cache */
+		uint32_t start_addr = addr;
+		uint32_t end_addr = addr + count * size;
+		uint32_t rel = (conf & MIPS32_CONFIG0_AR_MASK) >> MIPS32_CONFIG0_AR_SHIFT;
+		if (rel > 1) {
+			LOG_DEBUG("Unknown release in cache code");
+			return ERROR_FAIL;
 		}
+		retval = mips32_pracc_synchronize_cache(ejtag_info, start_addr, end_addr, cached, rel);
 	}
 
 	return retval;
@@ -889,48 +883,40 @@ int mips32_pracc_write_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
 		MIPS32_MTC0(1, 24, 0),							/* move $1 to depc (pc) */
 	};
 
-	uint32_t *code;
-	code = malloc((37 * 2 + 6 + 1) * sizeof(uint32_t));	/* alloc memory for the worst case */
-	if (code == NULL) {
-		LOG_ERROR("Out of memory");
-		return ERROR_FAIL;
-	}
+	struct pracc_queue_info ctx = {.max_code = 37 * 2 + 7 + 1};
+	pracc_queue_init(&ctx);
+	if (ctx.retval != ERROR_OK)
+		goto exit;
 
-	uint32_t *code_p = code;
-	int code_len = 0;
-	/* load registers 2 to 31 with lui an ori instructions, check if same instructions can be saved */
+	/* load registers 2 to 31 with lui and ori instructions, check if some instructions can be saved */
 	for (int i = 2; i < 32; i++) {
-		if (LOWER16((regs[i])) == 0) {
-			*code_p++ = MIPS32_LUI(i, UPPER16((regs[i])));		/* if lower half word is 0, lui instruction only */
-			code_len++;
-		} else if (UPPER16((regs[i])) == 0) {
-			*code_p++ = MIPS32_ORI(i, 0, LOWER16((regs[i])));	/* if upper half word is 0, ori with $0 only*/
-			code_len++;
-		} else {
-			*code_p++ = MIPS32_LUI(i, UPPER16((regs[i])));		/* default, load with lui and ori instructions */
-			*code_p++ = MIPS32_ORI(i, i, LOWER16((regs[i])));
-			code_len += 2;
+		if (LOWER16((regs[i])) == 0)					/* if lower half word is 0, lui instruction only */
+			pracc_add(&ctx, 0, MIPS32_LUI(i, UPPER16((regs[i]))));
+		else if (UPPER16((regs[i])) == 0)					/* if upper half word is 0, ori with $0 only*/
+			pracc_add(&ctx, 0, MIPS32_ORI(i, 0, LOWER16((regs[i]))));
+		else {									/* default, load with lui and ori instructions */
+			pracc_add(&ctx, 0, MIPS32_LUI(i, UPPER16((regs[i]))));
+			pracc_add(&ctx, 0, MIPS32_ORI(i, i, LOWER16((regs[i]))));
 		}
 	}
 
 	for (int i = 0; i != 6; i++) {
-		*code_p++ = MIPS32_LUI(1, UPPER16((regs[i + 32])));		/* load CPO value in $1, with lui and ori */
-		*code_p++ = MIPS32_ORI(1, 1, LOWER16((regs[i + 32])));
-		*code_p++ = cp0_write_code[i];					/* write value from $1 to CPO register */
-		code_len += 3;
+		pracc_add(&ctx, 0, MIPS32_LUI(1, UPPER16((regs[i + 32]))));		/* load CPO value in $1, with lui and ori */
+		pracc_add(&ctx, 0, MIPS32_ORI(1, 1, LOWER16((regs[i + 32]))));
+		pracc_add(&ctx, 0, cp0_write_code[i]);					/* write value from $1 to CPO register */
 	}
+	pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));				/* load $15 in DeSave */
+	pracc_add(&ctx, 0, MIPS32_LUI(1, UPPER16((regs[1]))));			/* load upper half word in $1 */
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_ORI(1, 1, LOWER16((regs[1]))));		/* load lower half word in $1 */
 
-	*code_p++ = MIPS32_LUI(1, UPPER16((regs[1])));				/* load upper half word in $1 */
-	code_len += 3;
-	*code_p++ = MIPS32_B(NEG16(code_len - 1)),							/* b start */
-	*code_p = MIPS32_ORI(1, 1, LOWER16((regs[1])));				/* load lower half word in $1 */
-
-	int retval = mips32_pracc_exec(ejtag_info, code_len, code, 0, NULL, 0, NULL, 1);
-	free(code);
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL);
 
 	ejtag_info->reg8 = regs[8];
 	ejtag_info->reg9 = regs[9];
-	return retval;
+exit:
+	pracc_queue_free(&ctx);
+	return ctx.retval;
 }
 
 int mips32_pracc_read_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
@@ -944,7 +930,7 @@ int mips32_pracc_read_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
 		MIPS32_MFC0(8, 24, 0),							/* move depc (pc) to $8 */
 	};
 
-	struct pracc_queue_info ctx = {.max_code = 48};
+	struct pracc_queue_info ctx = {.max_code = 49};
 	pracc_queue_init(&ctx);
 	if (ctx.retval != ERROR_OK)
 		goto exit;
@@ -965,8 +951,9 @@ int mips32_pracc_read_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
 	pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + 4,					/* store reg1 value from $8 to param out */
 			  MIPS32_SW(8, PRACC_OUT_OFFSET + 4, 1));
 
-	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
 	pracc_add(&ctx, 0, MIPS32_MFC0(1, 31, 0));					/* move COP0 DeSave to $1, restore reg1 */
+	pracc_add(&ctx, 0, MIPS32_B(NEG16(ctx.code_count + 1)));					/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_MTC0(15, 31, 0));					/* load $15 in DeSave */
 
 	if (ejtag_info->mode == 0)
 		ctx.store_count++;	/* Needed by legacy code, due to offset from reg0 */
@@ -1020,9 +1007,8 @@ int mips32_pracc_fastdata_xfer(struct mips_ejtag *ejtag_info, struct working_are
 	};
 
 	uint32_t jmp_code[] = {
-		MIPS32_MTC0(15, 31, 0),			/* move $15 to COP0 DeSave */
-		/* 1 */ MIPS32_LUI(15, 0),		/* addr of working area added below */
-		/* 2 */ MIPS32_ORI(15, 15, 0),	/* addr of working area added below */
+		/* 0 */ MIPS32_LUI(15, 0),		/* addr of working area added below */
+		/* 1 */ MIPS32_ORI(15, 15, 0),	/* addr of working area added below */
 		MIPS32_JR(15),					/* jump to ram program */
 		MIPS32_NOP,
 	};
@@ -1043,15 +1029,15 @@ int mips32_pracc_fastdata_xfer(struct mips_ejtag *ejtag_info, struct working_are
 
 	/* write program into RAM */
 	if (write_t != ejtag_info->fast_access_save) {
-		mips32_pracc_write_mem_generic(ejtag_info, source->address, 4, ARRAY_SIZE(handler_code), handler_code);
+		mips32_pracc_write_mem(ejtag_info, source->address, 4, ARRAY_SIZE(handler_code), handler_code);
 		/* save previous operation to speed to any consecutive read/writes */
 		ejtag_info->fast_access_save = write_t;
 	}
 
 	LOG_DEBUG("%s using 0x%.8" PRIx32 " for write handler", __func__, source->address);
 
-	jmp_code[1] |= UPPER16(source->address);
-	jmp_code[2] |= LOWER16(source->address);
+	jmp_code[0] |= UPPER16(source->address);
+	jmp_code[1] |= LOWER16(source->address);
 
 	for (i = 0; i < (int) ARRAY_SIZE(jmp_code); i++) {
 		retval = wait_for_pracc_rw(ejtag_info, &ejtag_ctrl);
@@ -1096,7 +1082,12 @@ int mips32_pracc_fastdata_xfer(struct mips_ejtag *ejtag_info, struct working_are
 	mips_ejtag_set_instr(ejtag_info, EJTAG_INST_FASTDATA);
 	mips_ejtag_fastdata_scan(ejtag_info, 1, &val);
 
+	unsigned num_clocks = 0;	/* like in legacy code */
+	if (ejtag_info->mode != 0)
+		num_clocks = ((uint64_t)(ejtag_info->scan_delay) * jtag_get_speed_khz() + 500000) / 1000000;
+
 	for (i = 0; i < count; i++) {
+		jtag_add_clocks(num_clocks);
 		retval = mips_ejtag_fastdata_scan(ejtag_info, write_t, buf++);
 		if (retval != ERROR_OK)
 			return retval;