Merge pull request #976 from riscv/from_upstream

Merge up to d4575b647a3603200a9bb4a784d170f792ab88d0 from upstream

57 files changed, 1831 insertions, 371 deletions

diff --git a/LICENSES/preferred/CC0-1.0 b/LICENSES/preferred/CC0-1.0
new file mode 100644
index 0000000..ba3c8c7
--- /dev/null
+++ b/LICENSES/preferred/CC0-1.0
@@ -0,0 +1,130 @@
+Valid-License-Identifier: CC0-1.0
+SPDX-URL: https://spdx.org/licenses/CC0-1.0.html
+Usage-Guide:
+  To use the Creative Commons Zero v1.0 Universal License put the following
+  SPDX tag/value pair into a comment according to the placement guidelines in
+  the licensing rules documentation:
+    SPDX-License-Identifier: CC0-1.0
+License-Text:
+
+Creative Commons Legal Code
+
+CC0 1.0 Universal
+
+    CREATIVE COMMONS CORPORATION IS NOT A LAW FIRM AND DOES NOT PROVIDE
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+    REGARDING THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS
+    PROVIDED HEREUNDER, AND DISCLAIMS LIABILITY FOR DAMAGES RESULTING FROM
+    THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS PROVIDED
+    HEREUNDER.
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+Statement of Purpose
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+The laws of most jurisdictions throughout the world automatically confer
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+associating CC0 with a Work (the "Affirmer"), to the extent that he or she
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+1. Copyright and Related Rights. A Work made available under CC0 may be
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+     European Parliament and of the Council of 11 March 1996 on the legal
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+2. Waiver. To the greatest extent permitted by, but not in contravention
+of, applicable law, Affirmer hereby overtly, fully, permanently,
+irrevocably and unconditionally waives, abandons, and surrenders all of
+Affirmer's Copyright and Related Rights and associated claims and causes
+of action, whether now known or unknown (including existing as well as
+future claims and causes of action), in the Work (i) in all territories
+worldwide, (ii) for the maximum duration provided by applicable law or
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+member of the public at large and to the detriment of Affirmer's heirs and
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+equitable action to disrupt the quiet enjoyment of the Work by the public
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+partial invalidity or ineffectiveness shall not invalidate the remainder
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+will not (i) exercise any of his or her remaining Copyright and Related
+Rights in the Work or (ii) assert any associated claims and causes of
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+express Statement of Purpose.
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+4. Limitations and Disclaimers.
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+    surrendered, licensed or otherwise affected by this document.
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+    the greatest extent permissible under applicable law.
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diff --git a/Makefile.am b/Makefile.am
index ac08e41..bf839d6 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -66,6 +66,7 @@ EXTRA_DIST += \
 	LICENSES/preferred/BSD-2-Clause-Views \
 	LICENSES/preferred/BSD-3-Clause \
 	LICENSES/preferred/BSD-Source-Code \
+	LICENSES/preferred/CC0-1.0 \
 	LICENSES/preferred/GFDL-1.2 \
 	LICENSES/preferred/gfdl-1.2.texi.readme \
 	LICENSES/preferred/GPL-2.0 \
diff --git a/contrib/rtos-helpers/FreeRTOS-openocd.c b/contrib/rtos-helpers/FreeRTOS-openocd.c
index 000453d..5f82ac7 100644
--- a/contrib/rtos-helpers/FreeRTOS-openocd.c
+++ b/contrib/rtos-helpers/FreeRTOS-openocd.c
@@ -1,4 +1,4 @@
-// SPDX-License-Identifier: GPL-2.0-or-later
+// SPDX-License-Identifier: CC0-1.0
 
 /*
  * Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer
diff --git a/doc/openocd.texi b/doc/openocd.texi
index 7a88087..1312c5f 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -5325,6 +5325,18 @@ Displays the current target state:
 (Also, @pxref{eventpolling,,Event Polling}.)
 @end deffn
 
+@deffn {Command} {$target_name debug_reason}
+Displays the current debug reason:
+@code{debug-request},
+@code{breakpoint},
+@code{watchpoint},
+@code{watchpoint-and-breakpoint},
+@code{single-step},
+@code{target-not-halted},
+@code{program-exit},
+@code{exception-catch} or @code{undefined}.
+@end deffn
+
 @deffn {Command} {$target_name eventlist}
 Displays a table listing all event handlers
 currently associated with this target.
@@ -9387,8 +9399,8 @@ for similar mechanisms that do not consume hardware breakpoints.)
 Remove the breakpoint at @var{address} or all breakpoints.
 @end deffn
 
-@deffn {Command} {rwp} address
-Remove data watchpoint on @var{address}
+@deffn {Command} {rwp} @option{all} | address
+Remove data watchpoint on @var{address} or all watchpoints.
 @end deffn
 
 @deffn {Command} {wp} [address len [(@option{r}|@option{w}|@option{a}) [value [mask]]]]
@@ -12709,7 +12721,7 @@ Return information about the flash banks
 @item @b{capture} <@var{command}>
 
 Run <@var{command}> and return full log output that was produced during
-its execution. Example:
+its execution together with the command output. Example:
 
 @example
 > capture "reset init"
diff --git a/src/flash/nor/rsl10.c b/src/flash/nor/rsl10.c
index 5f0ac9b..c286e9a 100644
--- a/src/flash/nor/rsl10.c
+++ b/src/flash/nor/rsl10.c
@@ -815,7 +815,8 @@ static const struct command_registration rsl10_exec_command_handlers[] = {
 		.help    = "Mass erase all unprotected flash areas",
 		.usage   = "",
 	},
-	COMMAND_REGISTRATION_DONE};
+	COMMAND_REGISTRATION_DONE
+};
 
 static const struct command_registration rsl10_command_handlers[] = {
 	{
@@ -825,7 +826,8 @@ static const struct command_registration rsl10_command_handlers[] = {
 		.usage = "",
 		.chain = rsl10_exec_command_handlers,
 	},
-	COMMAND_REGISTRATION_DONE};
+	COMMAND_REGISTRATION_DONE
+};
 
 const struct flash_driver rsl10_flash = {
 	.name               = "rsl10",
diff --git a/src/flash/nor/spi.c b/src/flash/nor/spi.c
index ace274f..bf654f9 100644
--- a/src/flash/nor/spi.c
+++ b/src/flash/nor/spi.c
@@ -22,10 +22,22 @@
  /* Shared table of known SPI flash devices for SPI-based flash drivers. Taken
   * from device datasheets and Linux SPI flash drivers. */
 const struct flash_device flash_devices[] = {
-	/* name, read_cmd, qread_cmd, pprog_cmd, erase_cmd, chip_erase_cmd, device_id,
-	 * pagesize, sectorsize, size_in_bytes
-	 * note: device id is usually 3 bytes long, however the unused highest byte counts
-	 * continuation codes for manufacturer id as per JEP106xx */
+	/* Note: device_id is usually 3 bytes long, however the unused highest byte counts
+	 * continuation codes for manufacturer id as per JEP106xx.
+	 *
+	 * All sizes (page, sector/block and flash) are in bytes.
+	 *
+	 * Guide to select a proper erase command (if both sector and block erase cmds are available):
+	 * Use 4kbit sector erase cmd and set erase size to the size of sector for small devices
+	 * (4Mbit and less, size <= 0x80000) to prevent too raw erase granularity.
+	 * Use 64kbit block erase cmd and set erase size to the size of block for bigger devices
+	 * (8Mbit and more, size >= 0x100000) to keep erase speed reasonable.
+	 * If the device implements also 32kbit block erase, use it for 8Mbit, size == 0x100000.
+	 */
+	/*        name                  read qread  page  erase chip  device_id   page   erase   flash
+	 *                              _cmd _cmd   _prog _cmd* _erase            size   size*   size
+	 *                                          _cmd        _cmd
+	 */
 	FLASH_ID("st m25pe10",          0x03, 0x00, 0x02, 0xd8, 0x00, 0x00118020, 0x100, 0x10000, 0x20000),
 	FLASH_ID("st m25pe20",          0x03, 0x00, 0x02, 0xd8, 0x00, 0x00128020, 0x100, 0x10000, 0x40000),
 	FLASH_ID("st m25pe40",          0x03, 0x00, 0x02, 0xd8, 0x00, 0x00138020, 0x100, 0x10000, 0x80000),
@@ -174,6 +186,11 @@ const struct flash_device flash_devices[] = {
 	FLASH_ID("zetta zd25q16",       0x03, 0x00, 0x02, 0xd8, 0xc7, 0x001560ba, 0x100, 0x10000, 0x200000),
 
 	/* FRAM, no erase commands, no write page or sectors */
+
+	/*        name                  read qread  page  device_id   total
+	 *                              _cmd _cmd   _prog             size
+	 *                                          _cmd
+	 */
 	FRAM_ID("fu mb85rs16n",         0x03, 0,    0x02, 0x00010104, 0x800),
 	FRAM_ID("fu mb85rs32v",         0x03, 0,    0x02, 0x00010204, 0x1000), /* exists ? */
 	FRAM_ID("fu mb85rs64v",         0x03, 0,    0x02, 0x00020304, 0x2000),
diff --git a/src/helper/command.c b/src/helper/command.c
index 945b890..ef50ab5 100644
--- a/src/helper/command.c
+++ b/src/helper/command.c
@@ -99,8 +99,7 @@ static struct log_capture_state *command_log_capture_start(Jim_Interp *interp)
  * The tcl return value is empty for openocd commands that provide
  * progress output.
  *
- * Therefore we set the tcl return value only if we actually
- * captured output.
+ * For other commands, we prepend the logs to the tcl return value.
  */
 static void command_log_capture_finish(struct log_capture_state *state)
 {
@@ -109,15 +108,18 @@ static void command_log_capture_finish(struct log_capture_state *state)
 
 	log_remove_callback(tcl_output, state);
 
-	int length;
-	Jim_GetString(state->output, &length);
+	int loglen;
+	const char *log_result = Jim_GetString(state->output, &loglen);
+	int reslen;
+	const char *cmd_result = Jim_GetString(Jim_GetResult(state->interp), &reslen);
 
-	if (length > 0)
-		Jim_SetResult(state->interp, state->output);
-	else {
-		/* No output captured, use tcl return value (which could
-		 * be empty too). */
-	}
+	// Just in case the log doesn't end with a newline, we add it
+	if (loglen != 0 && reslen != 0 && log_result[loglen - 1] != '\n')
+		Jim_AppendString(state->interp, state->output, "\n", 1);
+
+	Jim_AppendString(state->interp, state->output, cmd_result, reslen);
+
+	Jim_SetResult(state->interp, state->output);
 	Jim_DecrRefCount(state->interp, state->output);
 
 	free(state);
@@ -691,8 +693,8 @@ COMMAND_HANDLER(handle_echo)
 	return ERROR_OK;
 }
 
-/* Capture progress output and return as tcl return value. If the
- * progress output was empty, return tcl return value.
+/* Return both the progress output (LOG_INFO and higher)
+ * and the tcl return value of a command.
  */
 static int jim_capture(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
diff --git a/src/helper/jep106.inc b/src/helper/jep106.inc
index 6c81967..bcf354c 100644
--- a/src/helper/jep106.inc
+++ b/src/helper/jep106.inc
@@ -2,15 +2,15 @@
 
 /*
  * The manufacturer's standard identification code list appears in JEP106.
- * Copyright (c) 2022 JEDEC. All rights reserved.
+ * Copyright (c) 2023 JEDEC. All rights reserved.
  *
  * JEP106 is regularly updated. For the current manufacturer's standard
  * identification code list, please visit the JEDEC website at www.jedec.org .
  */
 
-/* This file is aligned to revision JEP106BG May 2023. */
+/* This file is aligned to revision JEP106BH September 2023. */
 
-/* "NXP (Philips)" is reported below, while missing in JEP106BG */
+/* "NXP (Philips)" is reported below, while missing since JEP106BG */
 
 [0][0x01 - 1] = "AMD",
 [0][0x02 - 1] = "AMI",
@@ -1375,7 +1375,7 @@
 [10][0x65 - 1] = "Esperanto Technologies",
 [10][0x66 - 1] = "JinSheng Electronic (Shenzhen) Co Ltd",
 [10][0x67 - 1] = "Shenzhen Shi Bolunshuai Technology",
-[10][0x68 - 1] = "Shanghai Rei Zuan Information Tech",
+[10][0x68 - 1] = "Shanghai Rui Zuan Information Tech",
 [10][0x69 - 1] = "Fraunhofer IIS",
 [10][0x6a - 1] = "Kandou Bus SA",
 [10][0x6b - 1] = "Acer",
@@ -1841,4 +1841,51 @@
 [14][0x3f - 1] = "Shenzhen Dingsheng Technology Co Ltd",
 [14][0x40 - 1] = "EVAS Intelligence Co Ltd",
 [14][0x41 - 1] = "Kaibright Electronic Technologies",
+[14][0x42 - 1] = "Fraunhofer IMS",
+[14][0x43 - 1] = "Shenzhen Xinrui Renhe Technology",
+[14][0x44 - 1] = "Beijing Vcore Technology Co Ltd",
+[14][0x45 - 1] = "Silicon Innovation Technologies Co Ltd",
+[14][0x46 - 1] = "Shenzhen Zhengxinda Technology Co Ltd",
+[14][0x47 - 1] = "Shenzhen Remai Electronics Co Lttd",
+[14][0x48 - 1] = "Shenzhen Xinruiyan Electronics Co Ltd",
+[14][0x49 - 1] = "CEC Huada Electronic Design Co Ltd",
+[14][0x4a - 1] = "Westberry Technology Inc",
+[14][0x4b - 1] = "Tongxin Microelectronics Co Ltd",
+[14][0x4c - 1] = "UNIM Semiconductor (Shang Hai) Co Ltd",
+[14][0x4d - 1] = "Shenzhen Qiaowenxingyu Industrial Co Ltd",
+[14][0x4e - 1] = "ICC",
+[14][0x4f - 1] = "Enfabrica Corporation",
+[14][0x50 - 1] = "Niobium Microsystems Inc",
+[14][0x51 - 1] = "Xiaoli AI Electronics (Shenzhen) Co Ltd",
+[14][0x52 - 1] = "Silicon Mitus",
+[14][0x53 - 1] = "Ajiatek Inc",
+[14][0x54 - 1] = "HomeNet",
+[14][0x55 - 1] = "Shenzhen Shubang Technology Co Ltd",
+[14][0x56 - 1] = "Exacta Technologies Ltd",
+[14][0x57 - 1] = "Synology",
+[14][0x58 - 1] = "Trium Elektronik Bilgi Islem San Ve Dis",
+[14][0x59 - 1] = "Shenzhen Hippstor Technology Co Ltd",
+[14][0x5a - 1] = "SSCT",
+[14][0x5b - 1] = "Sichuan Heentai Semiconductor Co Ltd",
+[14][0x5c - 1] = "Zhejiang University",
+[14][0x5d - 1] = "www.shingroup.cn",
+[14][0x5e - 1] = "Suzhou Nano Mchip Technology Company",
+[14][0x5f - 1] = "Feature Integration Technology Inc",
+[14][0x60 - 1] = "d-Matrix",
+[14][0x61 - 1] = "Golden Memory",
+[14][0x62 - 1] = "Qingdao Thunderobot Technology Co Ltd",
+[14][0x63 - 1] = "Shenzhen Tianxiang Chuangxin Technology",
+[14][0x64 - 1] = "HYPHY USA",
+[14][0x65 - 1] = "Valkyrie",
+[14][0x66 - 1] = "Suzhou Hesetc Electronic Technology Co",
+[14][0x67 - 1] = "Hainan Zhongyuncun Technology Co Ltd",
+[14][0x68 - 1] = "Shenzhen Yousheng Bona Technology Co",
+[14][0x69 - 1] = "Shenzhen Xinle Chuang Technology Co",
+[14][0x6a - 1] = "DEEPX",
+[14][0x6b - 1] = "iStarChip CA LLC",
+[14][0x6c - 1] = "Shenzhen Vinreada Technology Co Ltd",
+[14][0x6d - 1] = "Novatek Microelectronics Corp",
+[14][0x6e - 1] = "Chemgdu EG Technology Co Ltd",
+[14][0x6f - 1] = "AGI Technology",
+[14][0x70 - 1] = "Syntiant",
 /* EOF */
diff --git a/src/jtag/drivers/angie.c b/src/jtag/drivers/angie.c
index 9cc0865..b6bde5b 100644
--- a/src/jtag/drivers/angie.c
+++ b/src/jtag/drivers/angie.c
@@ -257,7 +257,7 @@ static int angie_usb_open(struct angie *device)
 	const uint16_t vids[] = {ANGIE_VID, ANGIE_VID, ANGIE_VID, ANGIE_VID, 0};
 	const uint16_t pids[] = {ANGIE_PID, ANGIE_PID_2, ANGIE_PID_3, ANGIE_PID_4, 0};
 
-	int ret = jtag_libusb_open(vids, pids, &usb_device_handle, NULL);
+	int ret = jtag_libusb_open(vids, pids, NULL, &usb_device_handle, NULL);
 
 	if (ret != ERROR_OK)
 		return ret;
diff --git a/src/jtag/drivers/arm-jtag-ew.c b/src/jtag/drivers/arm-jtag-ew.c
index a372720..eada67f 100644
--- a/src/jtag/drivers/arm-jtag-ew.c
+++ b/src/jtag/drivers/arm-jtag-ew.c
@@ -677,7 +677,7 @@ static struct armjtagew *armjtagew_usb_open(void)
 	const uint16_t pids[] = { USB_PID, 0 };
 	struct libusb_device_handle *dev;
 
-	if (jtag_libusb_open(vids, pids, &dev, NULL) != ERROR_OK)
+	if (jtag_libusb_open(vids, pids, NULL, &dev, NULL) != ERROR_OK)
 		return NULL;
 
 	struct armjtagew *result = malloc(sizeof(struct armjtagew));
diff --git a/src/jtag/drivers/bcm2835gpio.c b/src/jtag/drivers/bcm2835gpio.c
index f41f7b5..7fd7f38 100644
--- a/src/jtag/drivers/bcm2835gpio.c
+++ b/src/jtag/drivers/bcm2835gpio.c
@@ -331,7 +331,7 @@ COMMAND_HANDLER(bcm2835gpio_handle_peripheral_base)
 	}
 
 	tmp_base = bcm2835_peri_base;
-	command_print(CMD, "BCM2835 GPIO: peripheral_base = 0x%08" PRIu64,
+	command_print(CMD, "BCM2835 GPIO: peripheral_base = 0x%08" PRIx64,
 				  tmp_base);
 	return ERROR_OK;
 }
diff --git a/src/jtag/drivers/esp_usb_jtag.c b/src/jtag/drivers/esp_usb_jtag.c
index 2ed0f58..9504059 100644
--- a/src/jtag/drivers/esp_usb_jtag.c
+++ b/src/jtag/drivers/esp_usb_jtag.c
@@ -487,7 +487,7 @@ static int esp_usb_jtag_init(void)
 	bitq_interface->in_rdy = esp_usb_jtag_in_rdy;
 	bitq_interface->in = esp_usb_jtag_in;
 
-	int r = jtag_libusb_open(vids, pids, &priv->usb_device, NULL);
+	int r = jtag_libusb_open(vids, pids, NULL, &priv->usb_device, NULL);
 	if (r != ERROR_OK) {
 		LOG_ERROR("esp_usb_jtag: could not find or open device!");
 		goto out;
diff --git a/src/jtag/drivers/ft232r.c b/src/jtag/drivers/ft232r.c
index c2ec78a..2d9d9ef 100644
--- a/src/jtag/drivers/ft232r.c
+++ b/src/jtag/drivers/ft232r.c
@@ -246,7 +246,7 @@ static int ft232r_init(void)
 {
 	uint16_t avids[] = {ft232r_vid, 0};
 	uint16_t apids[] = {ft232r_pid, 0};
-	if (jtag_libusb_open(avids, apids, &adapter, NULL)) {
+	if (jtag_libusb_open(avids, apids, NULL, &adapter, NULL)) {
 		const char *ft232r_serial_desc = adapter_get_required_serial();
 		LOG_ERROR("ft232r not found: vid=%04x, pid=%04x, serial=%s\n",
 			ft232r_vid, ft232r_pid, (!ft232r_serial_desc) ? "[any]" : ft232r_serial_desc);
diff --git a/src/jtag/drivers/kitprog.c b/src/jtag/drivers/kitprog.c
index b953218..e126a9c 100644
--- a/src/jtag/drivers/kitprog.c
+++ b/src/jtag/drivers/kitprog.c
@@ -275,7 +275,7 @@ static int kitprog_usb_open(void)
 	const uint16_t vids[] = { VID, 0 };
 	const uint16_t pids[] = { PID, 0 };
 
-	if (jtag_libusb_open(vids, pids, &kitprog_handle->usb_handle, NULL) != ERROR_OK) {
+	if (jtag_libusb_open(vids, pids, NULL, &kitprog_handle->usb_handle, NULL) != ERROR_OK) {
 		LOG_ERROR("Failed to open or find the device");
 		return ERROR_FAIL;
 	}
diff --git a/src/jtag/drivers/libusb_helper.c b/src/jtag/drivers/libusb_helper.c
index c77fe78..9d788ee 100644
--- a/src/jtag/drivers/libusb_helper.c
+++ b/src/jtag/drivers/libusb_helper.c
@@ -146,12 +146,13 @@ static bool jtag_libusb_match_serial(struct libusb_device_handle *device,
 }
 
 int jtag_libusb_open(const uint16_t vids[], const uint16_t pids[],
-		struct libusb_device_handle **out,
+		const char *product, struct libusb_device_handle **out,
 		adapter_get_alternate_serial_fn adapter_get_alternate_serial)
 {
 	int cnt, idx, err_code;
 	int retval = ERROR_FAIL;
 	bool serial_mismatch = false;
+	bool product_mismatch = false;
 	struct libusb_device_handle *libusb_handle = NULL;
 	const char *serial = adapter_get_required_serial();
 
@@ -188,10 +189,18 @@ int jtag_libusb_open(const uint16_t vids[], const uint16_t pids[],
 			continue;
 		}
 
+		if (product &&
+				!string_descriptor_equal(libusb_handle, dev_desc.iProduct, product)) {
+			product_mismatch = true;
+			libusb_close(libusb_handle);
+			continue;
+		}
+
 		/* Success. */
 		*out = libusb_handle;
 		retval = ERROR_OK;
 		serial_mismatch = false;
+		product_mismatch = false;
 		break;
 	}
 	if (cnt >= 0)
@@ -200,6 +209,9 @@ int jtag_libusb_open(const uint16_t vids[], const uint16_t pids[],
 	if (serial_mismatch)
 		LOG_INFO("No device matches the serial string");
 
+	if (product_mismatch)
+		LOG_INFO("No device matches the product string");
+
 	if (retval != ERROR_OK)
 		libusb_exit(jtag_libusb_context);
 
diff --git a/src/jtag/drivers/libusb_helper.h b/src/jtag/drivers/libusb_helper.h
index 75f1335..09309b4 100644
--- a/src/jtag/drivers/libusb_helper.h
+++ b/src/jtag/drivers/libusb_helper.h
@@ -33,7 +33,7 @@ typedef char * (*adapter_get_alternate_serial_fn)(struct libusb_device_handle *d
 bool jtag_libusb_match_ids(struct libusb_device_descriptor *dev_desc,
 		const uint16_t vids[], const uint16_t pids[]);
 int jtag_libusb_open(const uint16_t vids[], const uint16_t pids[],
-		struct libusb_device_handle **out,
+		const char *product, struct libusb_device_handle **out,
 		adapter_get_alternate_serial_fn adapter_get_alternate_serial);
 void jtag_libusb_close(struct libusb_device_handle *dev);
 int jtag_libusb_control_transfer(struct libusb_device_handle *dev,
diff --git a/src/jtag/drivers/opendous.c b/src/jtag/drivers/opendous.c
index 2e1d648..4d9fd99 100644
--- a/src/jtag/drivers/opendous.c
+++ b/src/jtag/drivers/opendous.c
@@ -695,7 +695,7 @@ struct opendous_jtag *opendous_usb_open(void)
 	struct opendous_jtag *result;
 
 	struct libusb_device_handle *devh;
-	if (jtag_libusb_open(opendous_probe->VID, opendous_probe->PID, &devh, NULL) != ERROR_OK)
+	if (jtag_libusb_open(opendous_probe->VID, opendous_probe->PID, NULL, &devh, NULL) != ERROR_OK)
 		return NULL;
 
 	jtag_libusb_set_configuration(devh, 0);
diff --git a/src/jtag/drivers/openjtag.c b/src/jtag/drivers/openjtag.c
index fe3a8ff..dca27b0 100644
--- a/src/jtag/drivers/openjtag.c
+++ b/src/jtag/drivers/openjtag.c
@@ -438,7 +438,7 @@ static int openjtag_init_cy7c65215(void)
 	int ret;
 
 	usbh = NULL;
-	ret = jtag_libusb_open(cy7c65215_vids, cy7c65215_pids, &usbh, NULL);
+	ret = jtag_libusb_open(cy7c65215_vids, cy7c65215_pids, NULL, &usbh, NULL);
 	if (ret != ERROR_OK) {
 		LOG_ERROR("unable to open cy7c65215 device");
 		goto err;
diff --git a/src/jtag/drivers/osbdm.c b/src/jtag/drivers/osbdm.c
index d8fe713..84f2fd6 100644
--- a/src/jtag/drivers/osbdm.c
+++ b/src/jtag/drivers/osbdm.c
@@ -363,7 +363,7 @@ static int osbdm_flush(struct osbdm *osbdm, struct queue *queue)
 static int osbdm_open(struct osbdm *osbdm)
 {
 	(void)memset(osbdm, 0, sizeof(*osbdm));
-	if (jtag_libusb_open(osbdm_vid, osbdm_pid, &osbdm->devh, NULL) != ERROR_OK)
+	if (jtag_libusb_open(osbdm_vid, osbdm_pid, NULL, &osbdm->devh, NULL) != ERROR_OK)
 		return ERROR_FAIL;
 
 	if (libusb_claim_interface(osbdm->devh, 0) != ERROR_OK)
diff --git a/src/jtag/drivers/rlink.c b/src/jtag/drivers/rlink.c
index 65f7494..a28e76e 100644
--- a/src/jtag/drivers/rlink.c
+++ b/src/jtag/drivers/rlink.c
@@ -1448,7 +1448,7 @@ static int rlink_init(void)
 
 	const uint16_t vids[] = { USB_IDVENDOR, 0 };
 	const uint16_t pids[] = { USB_IDPRODUCT, 0 };
-	if (jtag_libusb_open(vids, pids, &hdev, NULL) != ERROR_OK)
+	if (jtag_libusb_open(vids, pids, NULL, &hdev, NULL) != ERROR_OK)
 		return ERROR_FAIL;
 
 	struct libusb_device_descriptor descriptor;
diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c
index c5326a2..b14fbf1 100644
--- a/src/jtag/drivers/stlink_usb.c
+++ b/src/jtag/drivers/stlink_usb.c
@@ -3406,7 +3406,7 @@ static int stlink_usb_usb_open(void *handle, struct hl_interface_param_s *param)
 	  in order to become operational.
 	 */
 	do {
-		if (jtag_libusb_open(param->vid, param->pid,
+		if (jtag_libusb_open(param->vid, param->pid, NULL,
 				&h->usb_backend_priv.fd, stlink_usb_get_alternate_serial) != ERROR_OK) {
 			LOG_ERROR("open failed");
 			return ERROR_FAIL;
diff --git a/src/jtag/drivers/ti_icdi_usb.c b/src/jtag/drivers/ti_icdi_usb.c
index 3e36218..4260e2d 100644
--- a/src/jtag/drivers/ti_icdi_usb.c
+++ b/src/jtag/drivers/ti_icdi_usb.c
@@ -675,7 +675,7 @@ static int icdi_usb_open(struct hl_interface_param_s *param, void **fd)
 
 	/* TI (Stellaris) ICDI provides its serial number in the USB descriptor;
 	   no need to provide a callback here. */
-	jtag_libusb_open(param->vid, param->pid, &h->usb_dev, NULL);
+	jtag_libusb_open(param->vid, param->pid, NULL, &h->usb_dev, NULL);
 
 	if (!h->usb_dev) {
 		LOG_ERROR("open failed");
diff --git a/src/jtag/drivers/usb_blaster/ublast2_access_libusb.c b/src/jtag/drivers/usb_blaster/ublast2_access_libusb.c
index f5e0026..de0d2d8 100644
--- a/src/jtag/drivers/usb_blaster/ublast2_access_libusb.c
+++ b/src/jtag/drivers/usb_blaster/ublast2_access_libusb.c
@@ -202,7 +202,7 @@ static int ublast2_libusb_init(struct ublast_lowlevel *low)
 	bool renumeration = false;
 	int ret;
 
-	if (jtag_libusb_open(vids, pids, &temp, NULL) == ERROR_OK) {
+	if (jtag_libusb_open(vids, pids, NULL, &temp, NULL) == ERROR_OK) {
 		LOG_INFO("Altera USB-Blaster II (uninitialized) found");
 		LOG_INFO("Loading firmware...");
 		ret = load_usb_blaster_firmware(temp, low);
@@ -216,13 +216,13 @@ static int ublast2_libusb_init(struct ublast_lowlevel *low)
 	const uint16_t pids_renum[] = { low->ublast_pid, 0 };
 
 	if (renumeration == false) {
-		if (jtag_libusb_open(vids_renum, pids_renum, &low->libusb_dev, NULL) != ERROR_OK) {
+		if (jtag_libusb_open(vids_renum, pids_renum, NULL, &low->libusb_dev, NULL) != ERROR_OK) {
 			LOG_ERROR("Altera USB-Blaster II not found");
 			return ERROR_FAIL;
 		}
 	} else {
 		int retry = 10;
-		while (jtag_libusb_open(vids_renum, pids_renum, &low->libusb_dev, NULL) != ERROR_OK && retry--) {
+		while (jtag_libusb_open(vids_renum, pids_renum, NULL, &low->libusb_dev, NULL) != ERROR_OK && retry--) {
 			usleep(1000000);
 			LOG_INFO("Waiting for reenumerate...");
 		}
diff --git a/src/jtag/drivers/usbprog.c b/src/jtag/drivers/usbprog.c
index 5d41656..aa655ed 100644
--- a/src/jtag/drivers/usbprog.c
+++ b/src/jtag/drivers/usbprog.c
@@ -341,7 +341,7 @@ struct usbprog_jtag *usbprog_jtag_open(void)
 	const uint16_t pids[] = { PID, 0 };
 	struct libusb_device_handle *dev;
 
-	if (jtag_libusb_open(vids, pids, &dev, NULL) != ERROR_OK)
+	if (jtag_libusb_open(vids, pids, NULL, &dev, NULL) != ERROR_OK)
 		return NULL;
 
 	struct usbprog_jtag *tmp = malloc(sizeof(struct usbprog_jtag));
diff --git a/src/pld/certus.c b/src/pld/certus.c
index a49501f..ccb3feb 100644
--- a/src/pld/certus.c
+++ b/src/pld/certus.c
@@ -121,6 +121,7 @@ static int lattice_certus_enable_programming(struct jtag_tap *tap)
 	uint8_t buffer = 0;
 	field.num_bits = 8;
 	field.out_value = &buffer;
+	field.in_value = NULL;
 	jtag_add_dr_scan(tap, 1, &field, TAP_IDLE);
 	jtag_add_runtest(2, TAP_IDLE);
 	return jtag_execute_queue();
diff --git a/src/rtos/rtos.c b/src/rtos/rtos.c
index faf30bd..b5e8e9a 100644
--- a/src/rtos/rtos.c
+++ b/src/rtos/rtos.c
@@ -83,6 +83,7 @@ static void os_free(struct target *target)
 		return;
 
 	free(target->rtos->symbols);
+	rtos_free_threadlist(target->rtos);
 	free(target->rtos);
 	target->rtos = NULL;
 }
diff --git a/src/server/gdb_server.c b/src/server/gdb_server.c
index 6f181b9..4bab5e5 100644
--- a/src/server/gdb_server.c
+++ b/src/server/gdb_server.c
@@ -95,6 +95,8 @@ struct gdb_connection {
 	char *thread_list;
 	/* flag to mask the output from gdb_log_callback() */
 	enum gdb_output_flag output_flag;
+	/* Unique index for this GDB connection. */
+	unsigned int unique_index;
 };
 
 #if 0
@@ -392,6 +394,7 @@ static void gdb_log_incoming_packet(struct connection *connection, char *packet)
 		return;
 
 	struct target *target = get_target_from_connection(connection);
+	struct gdb_connection *gdb_connection = connection->priv;
 
 	/* Avoid dumping non-printable characters to the terminal */
 	const unsigned packet_len = strlen(packet);
@@ -406,14 +409,15 @@ static void gdb_log_incoming_packet(struct connection *connection, char *packet)
 		if (packet_prefix_printable) {
 			const unsigned int prefix_len = colon - packet + 1;  /* + 1 to include the ':' */
 			const unsigned int payload_len = packet_len - prefix_len;
-			LOG_TARGET_DEBUG(target, "received packet: %.*s<binary-data-%u-bytes>", prefix_len,
-				packet, payload_len);
+			LOG_TARGET_DEBUG(target, "{%d} received packet: %.*s<binary-data-%u-bytes>",
+				gdb_connection->unique_index, prefix_len, packet, payload_len);
 		} else {
-			LOG_TARGET_DEBUG(target, "received packet: <binary-data-%u-bytes>", packet_len);
+			LOG_TARGET_DEBUG(target, "{%d} received packet: <binary-data-%u-bytes>",
+				gdb_connection->unique_index, packet_len);
 		}
 	} else {
 		/* All chars printable, dump the packet as is */
-		LOG_TARGET_DEBUG(target, "received packet: %s", packet);
+		LOG_TARGET_DEBUG(target, "{%d} received packet: %s", gdb_connection->unique_index, packet);
 	}
 }
 
@@ -424,13 +428,14 @@ static void gdb_log_outgoing_packet(struct connection *connection, char *packet_
 		return;
 
 	struct target *target = get_target_from_connection(connection);
+	struct gdb_connection *gdb_connection = connection->priv;
 
 	if (find_nonprint_char(packet_buf, packet_len))
-		LOG_TARGET_DEBUG(target, "sending packet: $<binary-data-%u-bytes>#%2.2x",
-			packet_len, checksum);
+		LOG_TARGET_DEBUG(target, "{%d} sending packet: $<binary-data-%u-bytes>#%2.2x",
+			gdb_connection->unique_index, packet_len, checksum);
 	else
-		LOG_TARGET_DEBUG(target, "sending packet: $%.*s#%2.2x", packet_len, packet_buf,
-			checksum);
+		LOG_TARGET_DEBUG(target, "{%d} sending packet: $%.*s#%2.2x",
+			gdb_connection->unique_index, packet_len, packet_buf, checksum);
 }
 
 static int gdb_put_packet_inner(struct connection *connection,
@@ -1017,6 +1022,7 @@ static int gdb_new_connection(struct connection *connection)
 	struct target *target;
 	int retval;
 	int initial_ack;
+	static unsigned int next_unique_id = 1;
 
 	target = get_target_from_connection(connection);
 	connection->priv = gdb_connection;
@@ -1039,6 +1045,7 @@ static int gdb_new_connection(struct connection *connection)
 	gdb_connection->target_desc.tdesc_length = 0;
 	gdb_connection->thread_list = NULL;
 	gdb_connection->output_flag = GDB_OUTPUT_NO;
+	gdb_connection->unique_index = next_unique_id++;
 
 	/* send ACK to GDB for debug request */
 	gdb_write(connection, "+", 1);
@@ -1097,20 +1104,19 @@ static int gdb_new_connection(struct connection *connection)
 		}
 	}
 
-	gdb_actual_connections++;
 	log_printf_lf(all_targets->next ? LOG_LVL_INFO : LOG_LVL_DEBUG,
 			__FILE__, __LINE__, __func__,
 			"New GDB Connection: %d, Target %s, state: %s",
-			gdb_actual_connections,
+			gdb_connection->unique_index,
 			target_name(target),
 			target_state_name(target));
 
 	if (!target_was_examined(target)) {
 		LOG_ERROR("Target %s not examined yet, refuse gdb connection %d!",
-				  target_name(target), gdb_actual_connections);
-		gdb_actual_connections--;
+				  target_name(target), gdb_connection->unique_index);
 		return ERROR_TARGET_NOT_EXAMINED;
 	}
+	gdb_actual_connections++;
 
 	if (target->state != TARGET_HALTED)
 		LOG_WARNING("GDB connection %d on target %s not halted",
@@ -1141,7 +1147,8 @@ static int gdb_connection_closed(struct connection *connection)
 	log_remove_callback(gdb_log_callback, connection);
 
 	gdb_actual_connections--;
-	LOG_DEBUG("GDB Close, Target: %s, state: %s, gdb_actual_connections=%d",
+	LOG_DEBUG("{%d} GDB Close, Target: %s, state: %s, gdb_actual_connections=%d",
+		gdb_connection->unique_index,
 		target_name(target),
 		target_state_name(target),
 		gdb_actual_connections);
diff --git a/src/target/arc.c b/src/target/arc.c
index 2ca6be1..0f7b110 100644
--- a/src/target/arc.c
+++ b/src/target/arc.c
@@ -1265,8 +1265,8 @@ static int arc_resume(struct target *target, int current, target_addr_t address,
 	/* current = 1: continue on current PC, otherwise continue at <address> */
 	if (!current) {
 		target_buffer_set_u32(target, pc->value, address);
-		pc->dirty = 1;
-		pc->valid = 1;
+		pc->dirty = true;
+		pc->valid = true;
 		LOG_DEBUG("Changing the value of current PC to 0x%08" TARGET_PRIxADDR, address);
 	}
 
@@ -1281,7 +1281,7 @@ static int arc_resume(struct target *target, int current, target_addr_t address,
 		resume_pc, pc->dirty, pc->valid);
 
 	/* check if GDB tells to set our PC where to continue from */
-	if ((pc->valid == 1) && (resume_pc == target_buffer_get_u32(target, pc->value))) {
+	if (pc->valid && resume_pc == target_buffer_get_u32(target, pc->value)) {
 		value = target_buffer_get_u32(target, pc->value);
 		LOG_DEBUG("resume Core (when start-core) with PC @:0x%08" PRIx32, value);
 		CHECK_RETVAL(arc_jtag_write_aux_reg_one(&arc->jtag_info, AUX_PC_REG, value));
@@ -1573,9 +1573,6 @@ static int arc_set_breakpoint(struct target *target,
 		return ERROR_FAIL;
 	}
 
-	/* core instruction cache is now invalid. */
-	CHECK_RETVAL(arc_cache_invalidate(target));
-
 	return ERROR_OK;
 }
 
@@ -1658,9 +1655,6 @@ static int arc_unset_breakpoint(struct target *target,
 			return ERROR_FAIL;
 	}
 
-	/* core instruction cache is now invalid. */
-	CHECK_RETVAL(arc_cache_invalidate(target));
-
 	return retval;
 }
 
@@ -2013,8 +2007,8 @@ static int arc_step(struct target *target, int current, target_addr_t address,
 	/* current = 1: continue on current pc, otherwise continue at <address> */
 	if (!current) {
 		buf_set_u32(pc->value, 0, 32, address);
-		pc->dirty = 1;
-		pc->valid = 1;
+		pc->dirty = true;
+		pc->valid = true;
 	}
 
 	LOG_DEBUG("Target steps one instruction from PC=0x%" PRIx32,
diff --git a/src/target/arm.h b/src/target/arm.h
index 28e5330..d5053af 100644
--- a/src/target/arm.h
+++ b/src/target/arm.h
@@ -61,6 +61,7 @@ enum arm_arch {
 /** Known ARM implementor IDs */
 enum arm_implementor {
 	ARM_IMPLEMENTOR_ARM = 0x41,
+	ARM_IMPLEMENTOR_INFINEON = 0x49,
 	ARM_IMPLEMENTOR_REALTEK = 0x72,
 };
 
@@ -230,12 +231,22 @@ struct arm {
 			uint32_t crn, uint32_t crm,
 			uint32_t *value);
 
+	/** Read coprocessor to two registers. */
+	int (*mrrc)(struct target *target, int cpnum,
+			uint32_t op, uint32_t crm,
+			uint64_t *value);
+
 	/** Write coprocessor register.  */
 	int (*mcr)(struct target *target, int cpnum,
 			uint32_t op1, uint32_t op2,
 			uint32_t crn, uint32_t crm,
 			uint32_t value);
 
+	/** Write coprocessor from two registers. */
+	int (*mcrr)(struct target *target, int cpnum,
+			uint32_t op, uint32_t crm,
+			uint64_t value);
+
 	void *arch_info;
 
 	/** For targets conforming to ARM Debug Interface v5,
diff --git a/src/target/arm_dpm.c b/src/target/arm_dpm.c
index ab9b50e..9f3a444 100644
--- a/src/target/arm_dpm.c
+++ b/src/target/arm_dpm.c
@@ -63,6 +63,29 @@ static int dpm_mrc(struct target *target, int cpnum,
 	return retval;
 }
 
+static int dpm_mrrc(struct target *target, int cpnum,
+	uint32_t op, uint32_t crm, uint64_t *value)
+{
+	struct arm *arm = target_to_arm(target);
+	struct arm_dpm *dpm = arm->dpm;
+	int retval;
+
+	retval = dpm->prepare(dpm);
+	if (retval != ERROR_OK)
+		return retval;
+
+	LOG_DEBUG("MRRC p%d, %d, r0, r1, c%d", cpnum,
+		 (int)op, (int)crm);
+
+	/* read coprocessor register into R0, R1; return via DCC */
+	retval = dpm->instr_read_data_r0_r1(dpm,
+			ARMV5_T_MRRC(cpnum, op, 0, 1, crm),
+			value);
+
+	/* (void) */ dpm->finish(dpm);
+	return retval;
+}
+
 static int dpm_mcr(struct target *target, int cpnum,
 	uint32_t op1, uint32_t op2, uint32_t crn, uint32_t crm,
 	uint32_t value)
@@ -88,6 +111,29 @@ static int dpm_mcr(struct target *target, int cpnum,
 	return retval;
 }
 
+static int dpm_mcrr(struct target *target, int cpnum,
+	uint32_t op, uint32_t crm, uint64_t value)
+{
+	struct arm *arm = target_to_arm(target);
+	struct arm_dpm *dpm = arm->dpm;
+	int retval;
+
+	retval = dpm->prepare(dpm);
+	if (retval != ERROR_OK)
+		return retval;
+
+	LOG_DEBUG("MCRR p%d, %d, r0, r1, c%d", cpnum,
+		(int)op, (int)crm);
+
+	/* read DCC into r0, r1; then write coprocessor register from R0, R1 */
+	retval = dpm->instr_write_data_r0_r1(dpm,
+			ARMV5_T_MCRR(cpnum, op, 0, 1, crm), value);
+
+	/* (void) */ dpm->finish(dpm);
+
+	return retval;
+}
+
 /*----------------------------------------------------------------------*/
 
 /*
@@ -1070,6 +1116,8 @@ int arm_dpm_setup(struct arm_dpm *dpm)
 	/* coprocessor access setup */
 	arm->mrc = dpm_mrc;
 	arm->mcr = dpm_mcr;
+	arm->mrrc = dpm_mrrc;
+	arm->mcrr = dpm_mcrr;
 
 	/* breakpoint setup -- optional until it works everywhere */
 	if (!target->type->add_breakpoint) {
diff --git a/src/target/arm_dpm.h b/src/target/arm_dpm.h
index d35e9f6..2da4631 100644
--- a/src/target/arm_dpm.h
+++ b/src/target/arm_dpm.h
@@ -72,6 +72,12 @@ struct arm_dpm {
 	int (*instr_write_data_r0)(struct arm_dpm *dpm,
 			uint32_t opcode, uint32_t data);
 
+	/**
+	 * Runs two instructions, writing data to R0 and R1 before execution.
+	 */
+	int (*instr_write_data_r0_r1)(struct arm_dpm *dpm,
+			uint32_t opcode, uint64_t data);
+
 	/** Runs one instruction, writing data to R0 before execution. */
 	int (*instr_write_data_r0_64)(struct arm_dpm *dpm,
 			uint32_t opcode, uint64_t data);
@@ -92,6 +98,13 @@ struct arm_dpm {
 	int (*instr_read_data_r0)(struct arm_dpm *dpm,
 			uint32_t opcode, uint32_t *data);
 
+	/**
+	 * Runs two instructions, reading data from r0 and r1 after
+	 * execution.
+	 */
+	int (*instr_read_data_r0_r1)(struct arm_dpm *dpm,
+			uint32_t opcode, uint64_t *data);
+
 	int (*instr_read_data_r0_64)(struct arm_dpm *dpm,
 			uint32_t opcode, uint64_t *data);
 
diff --git a/src/target/arm_opcodes.h b/src/target/arm_opcodes.h
index c182f41..c8ce51f 100644
--- a/src/target/arm_opcodes.h
+++ b/src/target/arm_opcodes.h
@@ -187,6 +187,17 @@
 	(0xee100010 | (crm) | ((op2) << 5) | ((cp) << 8) \
 	| ((rd) << 12) | ((crn) << 16) | ((op1) << 21))
 
+/* Move to two ARM registers from coprocessor
+ * cp: Coprocessor number
+ * op: Coprocessor opcode
+ * rt: destination register 1
+ * rt2: destination register 2
+ * crm: coprocessor source register
+ */
+#define ARMV5_T_MRRC(cp, op, rt, rt2, crm) \
+	(0xec500000 | (crm) | ((op) << 4) | ((cp) << 8) \
+	| ((rt) << 12) | ((rt2) << 16))
+
 /* Move to coprocessor from ARM register
  * cp: Coprocessor number
  * op1: Coprocessor opcode
@@ -199,6 +210,17 @@
 	(0xee000010 | (crm) | ((op2) << 5) | ((cp) << 8) \
 	| ((rd) << 12) | ((crn) << 16) | ((op1) << 21))
 
+/* Move to coprocessor from two ARM registers
+ * cp: Coprocessor number
+ * op: Coprocessor opcode
+ * rt: destination register 1
+ * rt2: destination register 2
+ * crm: coprocessor source register
+ */
+#define ARMV5_T_MCRR(cp, op, rt, rt2, crm) \
+	(0xec400000 | (crm) | ((op) << 4) | ((cp) << 8) \
+	 | ((rt) << 12) | ((rt2) << 16))
+
 /* Breakpoint instruction (ARMv5)
  * im: 16-bit immediate
  */
diff --git a/src/target/armv4_5.c b/src/target/armv4_5.c
index 8e3f224..7debb94 100644
--- a/src/target/armv4_5.c
+++ b/src/target/armv4_5.c
@@ -1093,6 +1093,94 @@ COMMAND_HANDLER(handle_armv4_5_mcrmrc)
 	return ERROR_OK;
 }
 
+COMMAND_HANDLER(handle_armv4_5_mcrrmrrc)
+{
+	bool is_mcrr = false;
+	unsigned int arg_cnt = 3;
+
+	if (!strcmp(CMD_NAME, "mcrr")) {
+		is_mcrr = true;
+		arg_cnt = 4;
+	}
+
+	if (arg_cnt != CMD_ARGC)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	struct target *target = get_current_target(CMD_CTX);
+	if (!target) {
+		command_print(CMD, "no current target");
+		return ERROR_FAIL;
+	}
+	if (!target_was_examined(target)) {
+		command_print(CMD, "%s: not yet examined", target_name(target));
+		return ERROR_TARGET_NOT_EXAMINED;
+	}
+
+	struct arm *arm = target_to_arm(target);
+	if (!is_arm(arm)) {
+		command_print(CMD, "%s: not an ARM", target_name(target));
+		return ERROR_FAIL;
+	}
+
+	if (target->state != TARGET_HALTED)
+		return ERROR_TARGET_NOT_HALTED;
+
+	int cpnum;
+	uint32_t op1;
+	uint32_t crm;
+	uint64_t value;
+
+	/* NOTE:  parameter sequence matches ARM instruction set usage:
+	 *	MCRR	pNUM, op1, rX1, rX2, CRm	; write CP from rX1 and rX2
+	 *	MREC	pNUM, op1, rX1, rX2, CRm	; read CP into rX1 and rX2
+	 * The "rXn" are necessarily omitted; they use Tcl mechanisms.
+	 */
+	COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], cpnum);
+	if (cpnum & ~0xf) {
+		command_print(CMD, "coprocessor %d out of range", cpnum);
+		return ERROR_COMMAND_ARGUMENT_INVALID;
+	}
+
+	COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], op1);
+	if (op1 & ~0xf) {
+		command_print(CMD, "op1 %d out of range", op1);
+		return ERROR_COMMAND_ARGUMENT_INVALID;
+	}
+
+	COMMAND_PARSE_NUMBER(u32, CMD_ARGV[2], crm);
+	if (crm & ~0xf) {
+		command_print(CMD, "CRm %d out of range", crm);
+		return ERROR_COMMAND_ARGUMENT_INVALID;
+	}
+
+	/*
+	 * FIXME change the call syntax here ... simplest to just pass
+	 * the MRC() or MCR() instruction to be executed.  That will also
+	 * let us support the "mrrc2" and "mcrr2" opcodes (toggling one bit)
+	 * if that's ever needed.
+	 */
+	if (is_mcrr) {
+		COMMAND_PARSE_NUMBER(u64, CMD_ARGV[3], value);
+
+		/* NOTE: parameters reordered! */
+		/* ARMV5_T_MCRR(cpnum, op1, crm) */
+		int retval = arm->mcrr(target, cpnum, op1, crm, value);
+		if (retval != ERROR_OK)
+			return retval;
+	} else {
+		value = 0;
+		/* NOTE: parameters reordered! */
+		/* ARMV5_T_MRRC(cpnum, op1, crm) */
+		int retval = arm->mrrc(target, cpnum, op1, crm, &value);
+		if (retval != ERROR_OK)
+			return retval;
+
+		command_print(CMD, "0x%" PRIx64, value);
+	}
+
+	return ERROR_OK;
+}
+
 static const struct command_registration arm_exec_command_handlers[] = {
 	{
 		.name = "reg",
@@ -1116,6 +1204,20 @@ static const struct command_registration arm_exec_command_handlers[] = {
 		.usage = "cpnum op1 CRn CRm op2",
 	},
 	{
+		.name = "mcrr",
+		.mode = COMMAND_EXEC,
+		.handler = handle_armv4_5_mcrrmrrc,
+		.help = "write coprocessor 64-bit register",
+		.usage = "cpnum op1 CRm value",
+	},
+	{
+		.name = "mrrc",
+		.mode = COMMAND_EXEC,
+		.handler = handle_armv4_5_mcrrmrrc,
+		.help = "read coprocessor 64-bit register",
+		.usage = "cpnum op1 CRm",
+	},
+	{
 		.chain = arm_all_profiles_command_handlers,
 	},
 	COMMAND_REGISTRATION_DONE
@@ -1669,6 +1771,14 @@ static int arm_default_mrc(struct target *target, int cpnum,
 	return ERROR_FAIL;
 }
 
+static int arm_default_mrrc(struct target *target, int cpnum,
+	uint32_t op, uint32_t crm,
+	uint64_t *value)
+{
+	LOG_ERROR("%s doesn't implement MRRC", target_type_name(target));
+	return ERROR_FAIL;
+}
+
 static int arm_default_mcr(struct target *target, int cpnum,
 	uint32_t op1, uint32_t op2,
 	uint32_t crn, uint32_t crm,
@@ -1678,6 +1788,14 @@ static int arm_default_mcr(struct target *target, int cpnum,
 	return ERROR_FAIL;
 }
 
+static int arm_default_mcrr(struct target *target, int cpnum,
+	uint32_t op, uint32_t crm,
+	uint64_t value)
+{
+	LOG_ERROR("%s doesn't implement MCRR", target_type_name(target));
+	return ERROR_FAIL;
+}
+
 int arm_init_arch_info(struct target *target, struct arm *arm)
 {
 	target->arch_info = arm;
@@ -1697,8 +1815,12 @@ int arm_init_arch_info(struct target *target, struct arm *arm)
 
 	if (!arm->mrc)
 		arm->mrc = arm_default_mrc;
+	if (!arm->mrrc)
+		arm->mrrc = arm_default_mrrc;
 	if (!arm->mcr)
 		arm->mcr = arm_default_mcr;
+	if (!arm->mcrr)
+		arm->mcrr = arm_default_mcrr;
 
 	return ERROR_OK;
 }
diff --git a/src/target/armv8_dpm.c b/src/target/armv8_dpm.c
index 9ba6b54..552bcfa 100644
--- a/src/target/armv8_dpm.c
+++ b/src/target/armv8_dpm.c
@@ -725,7 +725,8 @@ static int dpmv8_write_reg(struct arm_dpm *dpm, struct reg *r, unsigned regnum)
 }
 
 /**
- * Read basic registers of the current context:  R0 to R15, and CPSR;
+ * Read basic registers of the current context:  R0 to R15, and CPSR in AArch32
+ * state or R0 to R31, PC and CPSR in AArch64 state;
  * sets the core mode (such as USR or IRQ) and state (such as ARM or Thumb).
  * In normal operation this is called on entry to halting debug state,
  * possibly after some other operations supporting restore of debug state
@@ -772,9 +773,15 @@ int armv8_dpm_read_current_registers(struct arm_dpm *dpm)
 	/* update core mode and state */
 	armv8_set_cpsr(arm, cpsr);
 
-	for (unsigned int i = ARMV8_PC; i < cache->num_regs ; i++) {
+	/* read the remaining registers that would be required by GDB 'g' packet */
+	for (unsigned int i = ARMV8_R2; i <= ARMV8_PC ; i++) {
 		struct arm_reg *arm_reg;
 
+		/* in AArch32 skip AArch64 registers */
+		/* TODO: this should be detected below through arm_reg->mode */
+		if (arm->core_state != ARM_STATE_AARCH64 && i > ARMV8_R14 && i < ARMV8_PC)
+			continue;
+
 		r = armv8_reg_current(arm, i);
 		if (!r->exist || r->valid)
 			continue;
diff --git a/src/target/breakpoints.c b/src/target/breakpoints.c
index 7d2a9da..d069c6b 100644
--- a/src/target/breakpoints.c
+++ b/src/target/breakpoints.c
@@ -18,6 +18,11 @@
 #include "rtos/rtos.h"
 #include "smp.h"
 
+enum breakpoint_watchpoint {
+	BREAKPOINT,
+	WATCHPOINT,
+};
+
 static const char * const breakpoint_type_strings[] = {
 	"hardware",
 	"software"
@@ -418,26 +423,90 @@ int breakpoint_remove(struct target *target, target_addr_t address)
 	return retval;
 }
 
-int breakpoint_remove_all(struct target *target)
+static int watchpoint_free(struct target *target, struct watchpoint *watchpoint_to_remove)
 {
+	struct watchpoint *watchpoint = target->watchpoints;
+	struct watchpoint **watchpoint_p = &target->watchpoints;
+	int retval;
+
+	while (watchpoint) {
+		if (watchpoint == watchpoint_to_remove)
+			break;
+		watchpoint_p = &watchpoint->next;
+		watchpoint = watchpoint->next;
+	}
+
+	if (!watchpoint)
+		return ERROR_WATCHPOINT_NOT_FOUND;
+	retval = target_remove_watchpoint(target, watchpoint);
+	if (retval != ERROR_OK) {
+		LOG_TARGET_ERROR(target, "could not remove watchpoint #%d on this target",
+						 watchpoint->number);
+		return retval;
+	}
+
+	LOG_DEBUG("free WPID: %d --> %d", watchpoint->unique_id, retval);
+	(*watchpoint_p) = watchpoint->next;
+	free(watchpoint);
+
+	return ERROR_OK;
+}
+
+static int watchpoint_remove_all_internal(struct target *target)
+{
+	struct watchpoint *watchpoint = target->watchpoints;
+	int retval = ERROR_OK;
+
+	while (watchpoint) {
+		struct watchpoint *tmp = watchpoint;
+		watchpoint = watchpoint->next;
+		int status = watchpoint_free(target, tmp);
+		if (status != ERROR_OK)
+			retval = status;
+	}
+
+	return retval;
+}
+
+static int breakpoint_watchpoint_remove_all(struct target *target, enum breakpoint_watchpoint bp_wp)
+{
+	assert(bp_wp == BREAKPOINT || bp_wp == WATCHPOINT);
 	int retval = ERROR_OK;
 	if (target->smp) {
 		struct target_list *head;
 
 		foreach_smp_target(head, target->smp_targets) {
 			struct target *curr = head->target;
-			int status = breakpoint_remove_all_internal(curr);
+
+			int status = ERROR_OK;
+			if (bp_wp == BREAKPOINT)
+				status = breakpoint_remove_all_internal(curr);
+			else
+				status = watchpoint_remove_all_internal(curr);
 
 			if (status != ERROR_OK)
 				retval = status;
 		}
 	} else {
-		retval = breakpoint_remove_all_internal(target);
+		if (bp_wp == BREAKPOINT)
+			retval = breakpoint_remove_all_internal(target);
+		else
+			retval = watchpoint_remove_all_internal(target);
 	}
 
 	return retval;
 }
 
+int breakpoint_remove_all(struct target *target)
+{
+	return breakpoint_watchpoint_remove_all(target, BREAKPOINT);
+}
+
+int watchpoint_remove_all(struct target *target)
+{
+	return breakpoint_watchpoint_remove_all(target, WATCHPOINT);
+}
+
 int breakpoint_clear_target(struct target *target)
 {
 	int retval = ERROR_OK;
@@ -562,35 +631,6 @@ int watchpoint_add(struct target *target, target_addr_t address,
 	}
 }
 
-static int watchpoint_free(struct target *target, struct watchpoint *watchpoint_to_remove)
-{
-	struct watchpoint *watchpoint = target->watchpoints;
-	struct watchpoint **watchpoint_p = &target->watchpoints;
-	int retval;
-
-	while (watchpoint) {
-		if (watchpoint == watchpoint_to_remove)
-			break;
-		watchpoint_p = &watchpoint->next;
-		watchpoint = watchpoint->next;
-	}
-
-	if (!watchpoint)
-		return ERROR_WATCHPOINT_NOT_FOUND;
-	retval = target_remove_watchpoint(target, watchpoint);
-	if (retval != ERROR_OK) {
-		LOG_TARGET_ERROR(target, "could not remove watchpoint #%d on this target",
-						watchpoint->number);
-		return retval;
-	}
-
-	LOG_DEBUG("free WPID: %d --> %d", watchpoint->unique_id, retval);
-	(*watchpoint_p) = watchpoint->next;
-	free(watchpoint);
-
-	return ERROR_OK;
-}
-
 static int watchpoint_remove_internal(struct target *target, target_addr_t address)
 {
 	struct watchpoint *watchpoint = target->watchpoints;
diff --git a/src/target/breakpoints.h b/src/target/breakpoints.h
index 950283e..0ec65de 100644
--- a/src/target/breakpoints.h
+++ b/src/target/breakpoints.h
@@ -73,6 +73,7 @@ int watchpoint_add(struct target *target,
 		target_addr_t address, uint32_t length,
 		enum watchpoint_rw rw, uint64_t value, uint64_t mask);
 int watchpoint_remove(struct target *target, target_addr_t address);
+int watchpoint_remove_all(struct target *target);
 
 /* report type and address of just hit watchpoint */
 int watchpoint_hit(struct target *target, enum watchpoint_rw *rw,
diff --git a/src/target/cortex_a.c b/src/target/cortex_a.c
index abfd6ac..ba3349d 100644
--- a/src/target/cortex_a.c
+++ b/src/target/cortex_a.c
@@ -471,6 +471,28 @@ static int cortex_a_instr_write_data_r0(struct arm_dpm *dpm,
 	return retval;
 }
 
+static int cortex_a_instr_write_data_r0_r1(struct arm_dpm *dpm,
+	uint32_t opcode, uint64_t data)
+{
+	struct cortex_a_common *a = dpm_to_a(dpm);
+	uint32_t dscr = DSCR_INSTR_COMP;
+	int retval;
+
+	retval = cortex_a_instr_write_data_rt_dcc(dpm, 0, data & 0xffffffffULL);
+	if (retval != ERROR_OK)
+		return retval;
+
+	retval = cortex_a_instr_write_data_rt_dcc(dpm, 1, data >> 32);
+	if (retval != ERROR_OK)
+		return retval;
+
+	/* then the opcode, taking data from R0, R1 */
+	retval = cortex_a_exec_opcode(a->armv7a_common.arm.target,
+			opcode,
+			&dscr);
+	return retval;
+}
+
 static int cortex_a_instr_cpsr_sync(struct arm_dpm *dpm)
 {
 	struct target *target = dpm->arm->target;
@@ -539,6 +561,29 @@ static int cortex_a_instr_read_data_r0(struct arm_dpm *dpm,
 	return cortex_a_instr_read_data_rt_dcc(dpm, 0, data);
 }
 
+static int cortex_a_instr_read_data_r0_r1(struct arm_dpm *dpm,
+	uint32_t opcode, uint64_t *data)
+{
+	uint32_t lo, hi;
+	int retval;
+
+	/* the opcode, writing data to RO, R1 */
+	retval = cortex_a_instr_read_data_r0(dpm, opcode, &lo);
+	if (retval != ERROR_OK)
+		return retval;
+
+	*data = lo;
+
+	/* write R1 to DCC */
+	retval = cortex_a_instr_read_data_rt_dcc(dpm, 1, &hi);
+	if (retval != ERROR_OK)
+		return retval;
+
+	*data |= (uint64_t)hi << 32;
+
+	return retval;
+}
+
 static int cortex_a_bpwp_enable(struct arm_dpm *dpm, unsigned index_t,
 	uint32_t addr, uint32_t control)
 {
@@ -612,10 +657,12 @@ static int cortex_a_dpm_setup(struct cortex_a_common *a, uint32_t didr)
 
 	dpm->instr_write_data_dcc = cortex_a_instr_write_data_dcc;
 	dpm->instr_write_data_r0 = cortex_a_instr_write_data_r0;
+	dpm->instr_write_data_r0_r1 = cortex_a_instr_write_data_r0_r1;
 	dpm->instr_cpsr_sync = cortex_a_instr_cpsr_sync;
 
 	dpm->instr_read_data_dcc = cortex_a_instr_read_data_dcc;
 	dpm->instr_read_data_r0 = cortex_a_instr_read_data_r0;
+	dpm->instr_read_data_r0_r1 = cortex_a_instr_read_data_r0_r1;
 
 	dpm->bpwp_enable = cortex_a_bpwp_enable;
 	dpm->bpwp_disable = cortex_a_bpwp_disable;
diff --git a/src/target/cortex_m.c b/src/target/cortex_m.c
index 854e8eb..3eafee0 100644
--- a/src/target/cortex_m.c
+++ b/src/target/cortex_m.c
@@ -112,6 +112,11 @@ static const struct cortex_m_part_info cortex_m_parts[] = {
 		.flags = CORTEX_M_F_HAS_FPV5,
 	},
 	{
+		.impl_part = INFINEON_SLX2_PARTNO,
+		.name = "Infineon-SLx2",
+		.arch = ARM_ARCH_V8M,
+	},
+	{
 		.impl_part = REALTEK_M200_PARTNO,
 		.name = "Real-M200 (KM0)",
 		.arch = ARM_ARCH_V8M,
diff --git a/src/target/cortex_m.h b/src/target/cortex_m.h
index 065e4d4..0bc1399 100644
--- a/src/target/cortex_m.h
+++ b/src/target/cortex_m.h
@@ -45,19 +45,20 @@
  */
 enum cortex_m_impl_part {
 	CORTEX_M_PARTNO_INVALID,
-	STAR_MC1_PARTNO    = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0x132), /* FIXME - confirm implementor! */
-	CORTEX_M0_PARTNO   = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC20),
-	CORTEX_M1_PARTNO   = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC21),
-	CORTEX_M3_PARTNO   = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC23),
-	CORTEX_M4_PARTNO   = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC24),
-	CORTEX_M7_PARTNO   = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC27),
-	CORTEX_M0P_PARTNO  = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC60),
-	CORTEX_M23_PARTNO  = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD20),
-	CORTEX_M33_PARTNO  = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD21),
-	CORTEX_M35P_PARTNO = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD31),
-	CORTEX_M55_PARTNO  = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD22),
-	REALTEK_M200_PARTNO = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_REALTEK, 0xd20),
-	REALTEK_M300_PARTNO = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_REALTEK, 0xd22),
+	STAR_MC1_PARTNO      = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0x132), /* FIXME - confirm implementor! */
+	CORTEX_M0_PARTNO     = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC20),
+	CORTEX_M1_PARTNO     = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC21),
+	CORTEX_M3_PARTNO     = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC23),
+	CORTEX_M4_PARTNO     = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC24),
+	CORTEX_M7_PARTNO     = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC27),
+	CORTEX_M0P_PARTNO    = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xC60),
+	CORTEX_M23_PARTNO    = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD20),
+	CORTEX_M33_PARTNO    = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD21),
+	CORTEX_M35P_PARTNO   = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD31),
+	CORTEX_M55_PARTNO    = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_ARM, 0xD22),
+	INFINEON_SLX2_PARTNO = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_INFINEON, 0xDB0),
+	REALTEK_M200_PARTNO  = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_REALTEK, 0xd20),
+	REALTEK_M300_PARTNO  = ARM_MAKE_CPUID(ARM_IMPLEMENTOR_REALTEK, 0xd22),
 };
 
 /* Relevant Cortex-M flags, used in struct cortex_m_part_info.flags */
diff --git a/src/target/etm.c b/src/target/etm.c
index 6718875..d083017 100644
--- a/src/target/etm.c
+++ b/src/target/etm.c
@@ -552,8 +552,8 @@ static int etm_set_reg(struct reg *reg, uint32_t value)
 	}
 
 	buf_set_u32(reg->value, 0, reg->size, value);
-	reg->valid = 1;
-	reg->dirty = 0;
+	reg->valid = true;
+	reg->dirty = false;
 
 	return ERROR_OK;
 }
diff --git a/src/target/image.c b/src/target/image.c
index ad2d856..9175c20 100644
--- a/src/target/image.c
+++ b/src/target/image.c
@@ -96,20 +96,22 @@ static int autodetect_image_type(struct image *image, const char *url)
 static int identify_image_type(struct image *image, const char *type_string, const char *url)
 {
 	if (type_string) {
-		if (!strcmp(type_string, "bin"))
+		if (!strcmp(type_string, "bin")) {
 			image->type = IMAGE_BINARY;
-		else if (!strcmp(type_string, "ihex"))
+		} else if (!strcmp(type_string, "ihex")) {
 			image->type = IMAGE_IHEX;
-		else if (!strcmp(type_string, "elf"))
+		} else if (!strcmp(type_string, "elf")) {
 			image->type = IMAGE_ELF;
-		else if (!strcmp(type_string, "mem"))
+		} else if (!strcmp(type_string, "mem")) {
 			image->type = IMAGE_MEMORY;
-		else if (!strcmp(type_string, "s19"))
+		} else if (!strcmp(type_string, "s19")) {
 			image->type = IMAGE_SRECORD;
-		else if (!strcmp(type_string, "build"))
+		} else if (!strcmp(type_string, "build")) {
 			image->type = IMAGE_BUILDER;
-		else
+		} else {
+			LOG_ERROR("Unknown image type: %s, use one of: bin, ihex, elf, mem, s19, build", type_string);
 			return ERROR_IMAGE_TYPE_UNKNOWN;
+		}
 	} else
 		return autodetect_image_type(image, url);
 
@@ -966,12 +968,13 @@ int image_open(struct image *image, const char *url, const char *type_string)
 
 		retval = fileio_open(&image_binary->fileio, url, FILEIO_READ, FILEIO_BINARY);
 		if (retval != ERROR_OK)
-			return retval;
+			goto free_mem_on_error;
+
 		size_t filesize;
 		retval = fileio_size(image_binary->fileio, &filesize);
 		if (retval != ERROR_OK) {
 			fileio_close(image_binary->fileio);
-			return retval;
+			goto free_mem_on_error;
 		}
 
 		image->num_sections = 1;
@@ -986,14 +989,14 @@ int image_open(struct image *image, const char *url, const char *type_string)
 
 		retval = fileio_open(&image_ihex->fileio, url, FILEIO_READ, FILEIO_TEXT);
 		if (retval != ERROR_OK)
-			return retval;
+			goto free_mem_on_error;
 
 		retval = image_ihex_buffer_complete(image);
 		if (retval != ERROR_OK) {
 			LOG_ERROR(
 				"failed buffering IHEX image, check server output for additional information");
 			fileio_close(image_ihex->fileio);
-			return retval;
+			goto free_mem_on_error;
 		}
 	} else if (image->type == IMAGE_ELF) {
 		struct image_elf *image_elf;
@@ -1002,12 +1005,12 @@ int image_open(struct image *image, const char *url, const char *type_string)
 
 		retval = fileio_open(&image_elf->fileio, url, FILEIO_READ, FILEIO_BINARY);
 		if (retval != ERROR_OK)
-			return retval;
+			goto free_mem_on_error;
 
 		retval = image_elf_read_headers(image);
 		if (retval != ERROR_OK) {
 			fileio_close(image_elf->fileio);
-			return retval;
+			goto free_mem_on_error;
 		}
 	} else if (image->type == IMAGE_MEMORY) {
 		struct target *target = get_target(url);
@@ -1037,14 +1040,14 @@ int image_open(struct image *image, const char *url, const char *type_string)
 
 		retval = fileio_open(&image_mot->fileio, url, FILEIO_READ, FILEIO_TEXT);
 		if (retval != ERROR_OK)
-			return retval;
+			goto free_mem_on_error;
 
 		retval = image_mot_buffer_complete(image);
 		if (retval != ERROR_OK) {
 			LOG_ERROR(
 				"failed buffering S19 image, check server output for additional information");
 			fileio_close(image_mot->fileio);
-			return retval;
+			goto free_mem_on_error;
 		}
 	} else if (image->type == IMAGE_BUILDER) {
 		image->num_sections = 0;
@@ -1065,6 +1068,11 @@ int image_open(struct image *image, const char *url, const char *type_string)
 	}
 
 	return retval;
+
+free_mem_on_error:
+	free(image->type_private);
+	image->type_private = NULL;
+	return retval;
 };
 
 int image_read_section(struct image *image,
diff --git a/src/target/mips32.c b/src/target/mips32.c
index 4e6d251..5c346c4 100644
--- a/src/target/mips32.c
+++ b/src/target/mips32.c
@@ -27,7 +27,7 @@ static const char *mips_isa_strings[] = {
 	"MIPS32", "MIPS16", "", "MICRO MIPS32",
 };
 
-#define MIPS32_GDB_DUMMY_FP_REG 1
+#define MIPS32_GDB_FP_REG 1
 
 /*
  * GDB registers
@@ -39,7 +39,7 @@ static const struct {
 	enum reg_type type;
 	const char *group;
 	const char *feature;
-	int flag;
+	int size;
 } mips32_regs[] = {
 	{  0,  "r0", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
 	{  1,  "r1", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
@@ -73,88 +73,93 @@ static const struct {
 	{ 29, "r29", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
 	{ 30, "r30", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
 	{ 31, "r31", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
-	{ 32, "status", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cp0", 0 },
-	{ 33, "lo", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
-	{ 34, "hi", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
-	{ 35, "badvaddr", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cp0", 0 },
-	{ 36, "cause", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cp0", 0 },
-	{ 37, "pc", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
-
-	{ 38,  "f0", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 39,  "f1", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 40,  "f2", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 41,  "f3", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 42,  "f4", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 43,  "f5", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 44,  "f6", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 45,  "f7", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 46,  "f8", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 47,  "f9", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 48, "f10", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 49, "f11", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 50, "f12", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 51, "f13", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 52, "f14", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 53, "f15", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 54, "f16", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 55, "f17", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 56, "f18", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 57, "f19", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 58, "f20", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 59, "f21", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 60, "f22", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 61, "f23", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 62, "f24", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 63, "f25", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 64, "f26", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 65, "f27", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 66, "f28", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 67, "f29", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 68, "f30", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 69, "f31", REG_TYPE_IEEE_SINGLE, NULL,
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 70, "fcsr", REG_TYPE_INT, "float",
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
-	{ 71, "fir", REG_TYPE_INT, "float",
-		"org.gnu.gdb.mips.fpu", MIPS32_GDB_DUMMY_FP_REG },
+	{ 32,  "lo", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
+	{ 33,  "hi", REG_TYPE_INT, NULL, "org.gnu.gdb.mips.cpu", 0 },
+
+	{ MIPS32_REGLIST_FP_INDEX + 0,  "f0", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 1,  "f1", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 2,  "f2", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 3,  "f3", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 4,  "f4", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 5,  "f5", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 6,  "f6", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 7,  "f7", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 8,  "f8", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 9,  "f9", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 10, "f10", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 11, "f11", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 12, "f12", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 13, "f13", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 14, "f14", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 15, "f15", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 16, "f16", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 17, "f17", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 18, "f18", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 19, "f19", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 20, "f20", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 21, "f21", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 22, "f22", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 23, "f23", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 24, "f24", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 25, "f25", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 26, "f26", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 27, "f27", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 28, "f28", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 29, "f29", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 30, "f30", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+	{ MIPS32_REGLIST_FP_INDEX + 31, "f31", REG_TYPE_IEEE_DOUBLE, NULL,
+		"org.gnu.gdb.mips.fpu", MIPS32_GDB_FP_REG },
+
+	{ MIPS32_REGLIST_FPC_INDEX + 0, "fcsr", REG_TYPE_INT, "float",
+		"org.gnu.gdb.mips.fpu", 0 },
+	{ MIPS32_REGLIST_FPC_INDEX + 1, "fir", REG_TYPE_INT, "float",
+		"org.gnu.gdb.mips.fpu", 0 },
+
+	{ MIPS32_REGLIST_C0_STATUS_INDEX,	"status", REG_TYPE_INT, NULL,
+		"org.gnu.gdb.mips.cp0", 0 },
+	{ MIPS32_REGLIST_C0_BADVADDR_INDEX,	"badvaddr", REG_TYPE_INT, NULL,
+		"org.gnu.gdb.mips.cp0", 0 },
+	{ MIPS32_REGLIST_C0_CAUSE_INDEX,	"cause", REG_TYPE_INT, NULL,
+		"org.gnu.gdb.mips.cp0", 0 },
+	{ MIPS32_REGLIST_C0_PC_INDEX,		"pc", REG_TYPE_INT, NULL,
+		"org.gnu.gdb.mips.cpu", 0 },
+	{ MIPS32_REGLIST_C0_GUESTCTL1_INDEX, "guestCtl1", REG_TYPE_INT, NULL,
+		"org.gnu.gdb.mips.cp0", 0 },
 };
 
-
 #define MIPS32_NUM_REGS ARRAY_SIZE(mips32_regs)
 
-static uint8_t mips32_gdb_dummy_fp_value[] = {0, 0, 0, 0};
-
 static int mips32_get_core_reg(struct reg *reg)
 {
 	int retval;
@@ -174,12 +179,21 @@ static int mips32_set_core_reg(struct reg *reg, uint8_t *buf)
 {
 	struct mips32_core_reg *mips32_reg = reg->arch_info;
 	struct target *target = mips32_reg->target;
-	uint32_t value = buf_get_u32(buf, 0, 32);
+	uint64_t value;
+
+	if (reg->size == 64)
+		value = buf_get_u64(buf, 0, 64);
+	else
+		value = buf_get_u32(buf, 0, 32);
 
 	if (target->state != TARGET_HALTED)
 		return ERROR_TARGET_NOT_HALTED;
 
-	buf_set_u32(reg->value, 0, 32, value);
+	if (reg->size == 64)
+		buf_set_u64(reg->value, 0, 64, value);
+	else
+		buf_set_u32(reg->value, 0, 32, value);
+
 	reg->dirty = true;
 	reg->valid = true;
 
@@ -188,7 +202,8 @@ static int mips32_set_core_reg(struct reg *reg, uint8_t *buf)
 
 static int mips32_read_core_reg(struct target *target, unsigned int num)
 {
-	uint32_t reg_value;
+	unsigned int cnum;
+	uint64_t reg_value = 0;
 
 	/* get pointers to arch-specific information */
 	struct mips32_common *mips32 = target_to_mips32(target);
@@ -196,17 +211,40 @@ static int mips32_read_core_reg(struct target *target, unsigned int num)
 	if (num >= MIPS32_NUM_REGS)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
-	reg_value = mips32->core_regs[num];
-	buf_set_u32(mips32->core_cache->reg_list[num].value, 0, 32, reg_value);
+	if (num >= MIPS32_REGLIST_C0_INDEX) {
+		/* CP0 */
+		cnum = num - MIPS32_REGLIST_C0_INDEX;
+		reg_value = mips32->core_regs.cp0[cnum];
+		buf_set_u32(mips32->core_cache->reg_list[num].value, 0, 32, reg_value);
+	} else if (num >= MIPS32_REGLIST_FPC_INDEX) {
+		/* FPCR */
+		cnum = num - MIPS32_REGLIST_FPC_INDEX;
+		reg_value = mips32->core_regs.fpcr[cnum];
+		buf_set_u32(mips32->core_cache->reg_list[num].value, 0, 32, reg_value);
+	} else if (num >= MIPS32_REGLIST_FP_INDEX) {
+		/* FPR */
+		cnum = num - MIPS32_REGLIST_FP_INDEX;
+		reg_value = mips32->core_regs.fpr[cnum];
+		buf_set_u64(mips32->core_cache->reg_list[num].value, 0, 64, reg_value);
+	} else {
+		/* GPR */
+		cnum = num - MIPS32_REGLIST_GP_INDEX;
+		reg_value = mips32->core_regs.gpr[cnum];
+		buf_set_u32(mips32->core_cache->reg_list[num].value, 0, 32, reg_value);
+	}
+
 	mips32->core_cache->reg_list[num].valid = true;
 	mips32->core_cache->reg_list[num].dirty = false;
 
+	LOG_DEBUG("read core reg %i value 0x%" PRIx64 "", num, reg_value);
+
 	return ERROR_OK;
 }
 
 static int mips32_write_core_reg(struct target *target, unsigned int num)
 {
-	uint32_t reg_value;
+	unsigned int cnum;
+	uint64_t reg_value;
 
 	/* get pointers to arch-specific information */
 	struct mips32_common *mips32 = target_to_mips32(target);
@@ -214,9 +252,29 @@ static int mips32_write_core_reg(struct target *target, unsigned int num)
 	if (num >= MIPS32_NUM_REGS)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
-	reg_value = buf_get_u32(mips32->core_cache->reg_list[num].value, 0, 32);
-	mips32->core_regs[num] = reg_value;
-	LOG_DEBUG("write core reg %i value 0x%" PRIx32 "", num, reg_value);
+	if (num >= MIPS32_REGLIST_C0_INDEX) {
+		/* CP0 */
+		cnum = num - MIPS32_REGLIST_C0_INDEX;
+		reg_value = buf_get_u32(mips32->core_cache->reg_list[num].value, 0, 32);
+		mips32->core_regs.cp0[cnum] = (uint32_t)reg_value;
+	} else if (num >= MIPS32_REGLIST_FPC_INDEX) {
+		/* FPCR */
+		cnum = num - MIPS32_REGLIST_FPC_INDEX;
+		reg_value = buf_get_u32(mips32->core_cache->reg_list[num].value, 0, 32);
+		mips32->core_regs.fpcr[cnum] = (uint32_t)reg_value;
+	} else if (num >= MIPS32_REGLIST_FP_INDEX) {
+		/* FPR */
+		cnum = num - MIPS32_REGLIST_FP_INDEX;
+		reg_value = buf_get_u64(mips32->core_cache->reg_list[num].value, 0, 64);
+		mips32->core_regs.fpr[cnum] = reg_value;
+	} else {
+		/* GPR */
+		cnum = num - MIPS32_REGLIST_GP_INDEX;
+		reg_value = buf_get_u32(mips32->core_cache->reg_list[num].value, 0, 32);
+		mips32->core_regs.gpr[cnum] = (uint32_t)reg_value;
+	}
+
+	LOG_DEBUG("write core reg %i value 0x%" PRIx64 "", num, reg_value);
 	mips32->core_cache->reg_list[num].valid = true;
 	mips32->core_cache->reg_list[num].dirty = false;
 
@@ -246,10 +304,13 @@ int mips32_save_context(struct target *target)
 
 	/* get pointers to arch-specific information */
 	struct mips32_common *mips32 = target_to_mips32(target);
-	struct mips_ejtag *ejtag_info = &mips32->ejtag_info;
 
 	/* read core registers */
-	mips32_pracc_read_regs(ejtag_info, mips32->core_regs);
+	int retval = mips32_pracc_read_regs(mips32);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Could not read core registers from target");
+		return retval;
+	}
 
 	for (i = 0; i < MIPS32_NUM_REGS; i++) {
 		if (!mips32->core_cache->reg_list[i].valid)
@@ -265,7 +326,6 @@ int mips32_restore_context(struct target *target)
 
 	/* get pointers to arch-specific information */
 	struct mips32_common *mips32 = target_to_mips32(target);
-	struct mips_ejtag *ejtag_info = &mips32->ejtag_info;
 
 	for (i = 0; i < MIPS32_NUM_REGS; i++) {
 		if (mips32->core_cache->reg_list[i].dirty)
@@ -273,7 +333,7 @@ int mips32_restore_context(struct target *target)
 	}
 
 	/* write core regs */
-	mips32_pracc_write_regs(ejtag_info, mips32->core_regs);
+	mips32_pracc_write_regs(mips32);
 
 	return ERROR_OK;
 }
@@ -285,7 +345,7 @@ int mips32_arch_state(struct target *target)
 	LOG_USER("target halted in %s mode due to %s, pc: 0x%8.8" PRIx32 "",
 		mips_isa_strings[mips32->isa_mode],
 		debug_reason_name(target),
-		buf_get_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 32));
+		buf_get_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 32));
 
 	return ERROR_OK;
 }
@@ -322,25 +382,19 @@ struct reg_cache *mips32_build_reg_cache(struct target *target)
 		arch_info[i].mips32_common = mips32;
 
 		reg_list[i].name = mips32_regs[i].name;
-		reg_list[i].size = 32;
-
-		if (mips32_regs[i].flag == MIPS32_GDB_DUMMY_FP_REG) {
-			reg_list[i].value = mips32_gdb_dummy_fp_value;
-			reg_list[i].valid = true;
-			reg_list[i].arch_info = NULL;
-			register_init_dummy(&reg_list[i]);
-		} else {
-			reg_list[i].value = calloc(1, 4);
-			reg_list[i].valid = false;
-			reg_list[i].type = &mips32_reg_type;
-			reg_list[i].arch_info = &arch_info[i];
-
-			reg_list[i].reg_data_type = calloc(1, sizeof(struct reg_data_type));
-			if (reg_list[i].reg_data_type)
-				reg_list[i].reg_data_type->type = mips32_regs[i].type;
-			else
-				LOG_ERROR("unable to allocate reg type list");
-		}
+		reg_list[i].size = mips32_regs[i].size ? 64 : 32;
+
+		reg_list[i].value = mips32_regs[i].size ? calloc(1, 8) : calloc(1, 4);
+		reg_list[i].valid = false;
+		reg_list[i].type = &mips32_reg_type;
+		reg_list[i].arch_info = &arch_info[i];
+
+		reg_list[i].reg_data_type = calloc(1, sizeof(struct reg_data_type));
+		if (reg_list[i].reg_data_type)
+			reg_list[i].reg_data_type->type = mips32_regs[i].type;
+		else
+			LOG_ERROR("unable to allocate reg type list");
+
 
 		reg_list[i].dirty = false;
 
@@ -407,7 +461,7 @@ static int mips32_run_and_wait(struct target *target, target_addr_t entry_point,
 		return ERROR_TARGET_TIMEOUT;
 	}
 
-	pc = buf_get_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 32);
+	pc = buf_get_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 32);
 	if (exit_point && (pc != exit_point)) {
 		LOG_DEBUG("failed algorithm halted at 0x%" PRIx32 " ", pc);
 		return ERROR_TARGET_TIMEOUT;
@@ -751,15 +805,82 @@ int mips32_cpu_probe(struct target *target)
 	return ERROR_OK;
 }
 
+/* reads dsp implementation info from CP0 Config3 register {DSPP, DSPREV}*/
+void mips32_read_config_dsp(struct mips32_common *mips32, struct mips_ejtag *ejtag_info)
+{
+	uint32_t dsp_present = ((ejtag_info->config[3] & MIPS32_CONFIG3_DSPP_MASK) >> MIPS32_CONFIG3_DSPP_SHIFT);
+	if (dsp_present) {
+		mips32->dsp_imp = ((ejtag_info->config[3] & MIPS32_CONFIG3_DSPREV_MASK) >> MIPS32_CONFIG3_DSPREV_SHIFT) + 1;
+		LOG_USER("DSP implemented: %s, rev %d", "yes", mips32->dsp_imp);
+	} else {
+		LOG_USER("DSP implemented: %s", "no");
+	}
+}
+
+/* read fpu implementation info from CP0 Config1 register {CU1, FP}*/
+int mips32_read_config_fpu(struct mips32_common *mips32, struct mips_ejtag *ejtag_info)
+{
+	int retval;
+	uint32_t fp_imp = (ejtag_info->config[1] & MIPS32_CONFIG1_FP_MASK) >> MIPS32_CONFIG1_FP_SHIFT;
+	char buf[60] = {0};
+	if (!fp_imp) {
+		LOG_USER("FPU implemented: %s", "no");
+		mips32->fp_imp = MIPS32_FP_IMP_NONE;
+		return ERROR_OK;
+	}
+	uint32_t status_value;
+	bool status_fr, status_cu1;
+
+	retval = mips32_cp0_read(ejtag_info, &status_value, MIPS32_C0_STATUS, 0);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Failed to read cp0 status register");
+		return retval;
+	}
+
+	status_fr = (status_value >> MIPS32_CP0_STATUS_FR_SHIFT) & 0x1;
+	status_cu1 = (status_value >> MIPS32_CP0_STATUS_CU1_SHIFT) & 0x1;
+	if (status_cu1) {
+		/* TODO: read fpu(cp1) config register for current operating mode.
+		 * Now its set to 32 bits by default. */
+		snprintf(buf, sizeof(buf), "yes");
+		fp_imp = MIPS32_FP_IMP_32;
+	} else {
+		snprintf(buf, sizeof(buf), "yes, disabled");
+		fp_imp = MIPS32_FP_IMP_UNKNOWN;
+	}
+
+	mips32->fpu_in_64bit = status_fr;
+	mips32->fpu_enabled = status_cu1;
+
+	LOG_USER("FPU implemented: %s", buf);
+	mips32->fp_imp = fp_imp;
+
+	return ERROR_OK;
+}
+
+/* Checks if current target implements Common Device Memory Map and therefore Fast Debug Channel (MD00090) */
+void mips32_read_config_fdc(struct mips32_common *mips32, struct mips_ejtag *ejtag_info, uint32_t dcr)
+{
+	if (((ejtag_info->config[3] & MIPS32_CONFIG3_CDMM_MASK) != 0) && ((dcr & EJTAG_DCR_FDC) != 0)) {
+		mips32->fdc = 1;
+		mips32->semihosting = 1;
+	} else {
+		mips32->fdc = 0;
+		mips32->semihosting = 0;
+	}
+}
+
 /* read config to config3 cp0 registers and log isa implementation */
 int mips32_read_config_regs(struct target *target)
 {
 	struct mips32_common *mips32 = target_to_mips32(target);
 	struct mips_ejtag *ejtag_info = &mips32->ejtag_info;
+	char buf[60] = {0};
+	int retval;
 
 	if (ejtag_info->config_regs == 0)
 		for (int i = 0; i != 4; i++) {
-			int retval = mips32_cp0_read(ejtag_info, &ejtag_info->config[i], 16, i);
+			retval = mips32_cp0_read(ejtag_info, &ejtag_info->config[i], 16, i);
 			if (retval != ERROR_OK) {
 				LOG_ERROR("isa info not available, failed to read cp0 config register: %" PRId32, i);
 				ejtag_info->config_regs = 0;
@@ -774,27 +895,56 @@ int mips32_read_config_regs(struct target *target)
 
 	LOG_DEBUG("read  %"PRIu32" config registers", ejtag_info->config_regs);
 
+	mips32->isa_rel = (ejtag_info->config[0] & MIPS32_CONFIG0_AR_MASK) >> MIPS32_CONFIG0_AR_SHIFT;
+	snprintf(buf, sizeof(buf), ", release %s(AR=%d)",
+			mips32->isa_rel == MIPS32_RELEASE_1 ? "1"
+			: mips32->isa_rel == MIPS32_RELEASE_2 ? "2"
+			: mips32->isa_rel == MIPS32_RELEASE_6 ? "6"
+			: "unknown", mips32->isa_rel);
+
 	if (ejtag_info->impcode & EJTAG_IMP_MIPS16) {
 		mips32->isa_imp = MIPS32_MIPS16;
-		LOG_USER("MIPS32 with MIPS16 support implemented");
-
+		LOG_USER("ISA implemented: %s%s", "MIPS32, MIPS16", buf);
 	} else if (ejtag_info->config_regs >= 4) {	/* config3 implemented */
 		unsigned isa_imp = (ejtag_info->config[3] & MIPS32_CONFIG3_ISA_MASK) >> MIPS32_CONFIG3_ISA_SHIFT;
 		if (isa_imp == 1) {
 			mips32->isa_imp = MMIPS32_ONLY;
-			LOG_USER("MICRO MIPS32 only implemented");
+			LOG_USER("ISA implemented: %s%s", "microMIPS32", buf);
 
 		} else if (isa_imp != 0) {
 			mips32->isa_imp = MIPS32_MMIPS32;
-			LOG_USER("MIPS32 and MICRO MIPS32 implemented");
+			LOG_USER("ISA implemented: %s%s", "MIPS32, microMIPS32", buf);
 		}
+	} else if (mips32->isa_imp == MIPS32_ONLY)	{
+		/* initial default value */
+		LOG_USER("ISA implemented: %s%s", "MIPS32", buf);
+	}
+
+	/* Retrieve DSP info */
+	mips32_read_config_dsp(mips32, ejtag_info);
+
+	/* Retrieve if Float Point CoProcessor Implemented */
+	retval = mips32_read_config_fpu(mips32, ejtag_info);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("fpu info is not available, error while reading cp0 status");
+		mips32->fp_imp = MIPS32_FP_IMP_NONE;
+		return retval;
 	}
 
-	if (mips32->isa_imp == MIPS32_ONLY)	/* initial default value */
-		LOG_USER("MIPS32 only implemented");
+	uint32_t dcr;
+
+	retval = target_read_u32(target, EJTAG_DCR, &dcr);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("failed to read EJTAG_DCR register");
+		return retval;
+	}
+
+	/* Determine if FDC and CDMM are implemented for this core */
+	mips32_read_config_fdc(mips32, ejtag_info, dcr);
 
 	return ERROR_OK;
 }
+
 int mips32_checksum_memory(struct target *target, target_addr_t address,
 		uint32_t count, uint32_t *checksum)
 {
diff --git a/src/target/mips32.h b/src/target/mips32.h
index 3d03e98..d072eb9 100644
--- a/src/target/mips32.h
+++ b/src/target/mips32.h
@@ -46,9 +46,21 @@
 #define MIPS32_CONFIG0_AR_SHIFT 10
 #define MIPS32_CONFIG0_AR_MASK (0x7 << MIPS32_CONFIG0_AR_SHIFT)
 
+#define MIPS32_CONFIG1_FP_SHIFT	0
+#define MIPS32_CONFIG1_FP_MASK	BIT(MIPS32_CONFIG1_FP_SHIFT)
+
 #define MIPS32_CONFIG1_DL_SHIFT 10
 #define MIPS32_CONFIG1_DL_MASK (0x7 << MIPS32_CONFIG1_DL_SHIFT)
 
+#define MIPS32_CONFIG3_CDMM_SHIFT	3
+#define MIPS32_CONFIG3_CDMM_MASK	BIT(MIPS32_CONFIG3_CDMM_SHIFT)
+
+#define MIPS32_CONFIG3_DSPP_SHIFT	10
+#define MIPS32_CONFIG3_DSPP_MASK	BIT(MIPS32_CONFIG3_DSPP_SHIFT)
+
+#define MIPS32_CONFIG3_DSPREV_SHIFT	11
+#define MIPS32_CONFIG3_DSPREV_MASK	BIT(MIPS32_CONFIG3_DSPREV_SHIFT)
+
 #define MIPS32_CONFIG3_ISA_SHIFT	14
 #define MIPS32_CONFIG3_ISA_MASK		(3 << MIPS32_CONFIG3_ISA_SHIFT)
 
@@ -57,6 +69,141 @@
 
 #define MIPS32_SCAN_DELAY_LEGACY_MODE 2000000
 
+#define MIPS32_NUM_DSPREGS		9
+
+/* Bit Mask indicating CP0 register supported by this core */
+#define	MIPS_CP0_MK4		0x0001
+#define	MIPS_CP0_MAPTIV_UC	0x0002
+#define	MIPS_CP0_MAPTIV_UP	0x0004
+#define MIPS_CP0_IAPTIV		0x0008
+
+/* CP0 Status register fields */
+#define MIPS32_CP0_STATUS_FR_SHIFT	26
+#define MIPS32_CP0_STATUS_CU1_SHIFT	29
+
+/* CP1 FIR register fields */
+#define MIPS32_CP1_FIR_F64_SHIFT	22
+
+static const struct {
+	unsigned int reg;
+	unsigned int sel;
+	const char *name;
+	const unsigned int core;
+} mips32_cp0_regs[] = {
+	{0, 0, "index", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{0, 1, "mvpcontrol", MIPS_CP0_IAPTIV},
+	{0, 2, "mvpconf0", MIPS_CP0_IAPTIV},
+	{0, 3, "mvpconf1", MIPS_CP0_IAPTIV},
+	{1, 0, "random", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{1, 1, "vpecontrol", MIPS_CP0_IAPTIV},
+	{1, 2, "vpeconf0", MIPS_CP0_IAPTIV},
+	{1, 3, "vpeconf1", MIPS_CP0_IAPTIV},
+	{1, 4, "yqmask", MIPS_CP0_IAPTIV},
+	{1, 5, "vpeschedule", MIPS_CP0_IAPTIV},
+	{1, 6, "vpeschefback", MIPS_CP0_IAPTIV},
+	{1, 7, "vpeopt", MIPS_CP0_IAPTIV},
+	{2, 0, "entrylo0", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{2, 1, "tcstatus", MIPS_CP0_IAPTIV},
+	{2, 2, "tcbind", MIPS_CP0_IAPTIV},
+	{2, 3, "tcrestart", MIPS_CP0_IAPTIV},
+	{2, 4, "tchalt", MIPS_CP0_IAPTIV},
+	{2, 5, "tccontext", MIPS_CP0_IAPTIV},
+	{2, 6, "tcschedule", MIPS_CP0_IAPTIV},
+	{2, 7, "tcschefback", MIPS_CP0_IAPTIV},
+	{3, 0, "entrylo1", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{3, 7, "tcopt", MIPS_CP0_IAPTIV},
+	{4, 0, "context", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{4, 2, "userlocal", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{5, 0, "pagemask", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{5, 1, "pagegrain", MIPS_CP0_MAPTIV_UP},
+	{5, 2, "segctl0", MIPS_CP0_IAPTIV},
+	{5, 3, "segctl1", MIPS_CP0_IAPTIV},
+	{5, 4, "segctl2", MIPS_CP0_IAPTIV},
+	{6, 0, "wired", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{6, 1, "srsconf0", MIPS_CP0_IAPTIV},
+	{6, 2, "srsconf1", MIPS_CP0_IAPTIV},
+	{6, 3, "srsconf2", MIPS_CP0_IAPTIV},
+	{6, 4, "srsconf3", MIPS_CP0_IAPTIV},
+	{6, 5, "srsconf4", MIPS_CP0_IAPTIV},
+	{7, 0, "hwrena", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{8, 0, "badvaddr", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{8, 1, "badinstr", MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP},
+	{8, 2, "badinstrp", MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP},
+	{9, 0, "count", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{10, 0, "entryhi", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP},
+	{10, 4, "guestctl1", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MK4},
+	{10, 5, "guestctl2", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MK4},
+	{10, 6, "guestctl3", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MK4},
+	{11, 0, "compare", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{11, 4, "guestctl0ext", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MK4},
+	{12, 0, "status", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{12, 1, "intctl", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{12, 2, "srsctl", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{12, 3, "srsmap", MIPS_CP0_IAPTIV},
+	{12, 3, "srsmap1", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP},
+	{12, 4, "view_ipl", MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{12, 5, "srsmap2", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP},
+	{12, 6, "guestctl0", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MK4},
+	{12, 7, "gtoffset", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MK4},
+	{13, 0, "cause", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{13, 5, "nestedexc", MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{14, 0, "epc", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{14, 2, "nestedepc", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{15, 0, "prid", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{15, 1, "ebase", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{15, 2, "cdmmbase", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{15, 3, "cmgcrbase", MIPS_CP0_IAPTIV},
+	{16, 0, "config", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{16, 1, "config1", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{16, 2, "config2", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{16, 3, "config3", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{16, 4, "config4", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{16, 5, "config5", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{16, 7, "config7", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{17, 0, "lladdr", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{18, 0, "watchlo0", MIPS_CP0_IAPTIV},
+	{18, 1, "watchlo1", MIPS_CP0_IAPTIV},
+	{18, 2, "watchlo2", MIPS_CP0_IAPTIV},
+	{18, 3, "watchlo3", MIPS_CP0_IAPTIV},
+	{19, 0, "watchhi0", MIPS_CP0_IAPTIV},
+	{19, 1, "watchhi1", MIPS_CP0_IAPTIV},
+	{19, 2, "watchhi2", MIPS_CP0_IAPTIV},
+	{19, 3, "watchhi3", MIPS_CP0_IAPTIV},
+	{23, 0, "debug", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{23, 1, "tracecontrol", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{23, 2, "tracecontrol2", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{23, 3, "usertracedata1", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{23, 4, "tracebpc", MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{23, 4, "traceibpc", MIPS_CP0_IAPTIV},
+	{23, 5, "tracedbpc", MIPS_CP0_IAPTIV},
+	{24, 0, "depc", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{24, 2, "tracecontrol3", MIPS_CP0_IAPTIV},
+	{24, 3, "usertracedata2", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{25, 0, "perfctl0", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{25, 1, "perfcnt0", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{25, 2, "perfctl1", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{25, 3, "perfcnt1", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{26, 0, "errctl", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{27, 0, "cacheerr", MIPS_CP0_IAPTIV},
+	{28, 0, "itaglo", MIPS_CP0_IAPTIV},
+	{28, 0, "taglo", MIPS_CP0_IAPTIV},
+	{28, 1, "idatalo", MIPS_CP0_IAPTIV},
+	{28, 1, "datalo", MIPS_CP0_IAPTIV},
+	{28, 2, "dtaglo", MIPS_CP0_IAPTIV},
+	{28, 3, "ddatalo", MIPS_CP0_IAPTIV},
+	{28, 4, "l23taglo", MIPS_CP0_IAPTIV},
+	{28, 5, "l23datalo", MIPS_CP0_IAPTIV},
+	{29, 1, "idatahi", MIPS_CP0_IAPTIV},
+	{29, 2, "dtaghi", MIPS_CP0_IAPTIV},
+	{29, 5, "l23datahi", MIPS_CP0_IAPTIV},
+	{30, 0, "errorepc", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{31, 0, "desave", MIPS_CP0_IAPTIV | MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP | MIPS_CP0_MK4},
+	{31, 2, "kscratch1", MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP},
+	{31, 3, "kscratch2", MIPS_CP0_MAPTIV_UC | MIPS_CP0_MAPTIV_UP},
+};
+
+#define MIPS32NUMCP0REGS ((int)ARRAY_SIZE(mips32_cp0_regs))
+
 /* Insert extra NOPs after the DRET instruction on exit from debug. */
 #define	EJTAG_QUIRK_PAD_DRET		BIT(0)
 
@@ -67,6 +214,30 @@ enum {
 	MIPS32NUMCOREREGS
 };
 
+/* offsets into mips32 core register cache */
+
+#define MIPS32_REG_GP_COUNT			34
+#define MIPS32_REG_FP_COUNT			32
+#define MIPS32_REG_FPC_COUNT			2
+#define MIPS32_REG_C0_COUNT			5
+
+#define MIPS32_REGLIST_GP_INDEX			0
+#define MIPS32_REGLIST_FP_INDEX			(MIPS32_REGLIST_GP_INDEX + MIPS32_REG_GP_COUNT)
+#define MIPS32_REGLIST_FPC_INDEX		(MIPS32_REGLIST_FP_INDEX + MIPS32_REG_FP_COUNT)
+#define MIPS32_REGLIST_C0_INDEX			(MIPS32_REGLIST_FPC_INDEX + MIPS32_REG_FPC_COUNT)
+
+#define MIPS32_REGLIST_C0_STATUS_INDEX		(MIPS32_REGLIST_C0_INDEX + 0)
+#define MIPS32_REGLIST_C0_BADVADDR_INDEX	(MIPS32_REGLIST_C0_INDEX + 1)
+#define MIPS32_REGLIST_C0_CAUSE_INDEX		(MIPS32_REGLIST_C0_INDEX + 2)
+#define MIPS32_REGLIST_C0_PC_INDEX		(MIPS32_REGLIST_C0_INDEX + 3)
+#define MIPS32_REGLIST_C0_GUESTCTL1_INDEX	(MIPS32_REGLIST_C0_INDEX + 4)
+
+#define MIPS32_REG_C0_STATUS_INDEX		0
+#define MIPS32_REG_C0_BADVADDR_INDEX		1
+#define MIPS32_REG_C0_CAUSE_INDEX		2
+#define MIPS32_REG_C0_PC_INDEX			3
+#define MIPS32_REG_C0_GUESTCTL1_INDEX		4
+
 enum mips32_isa_mode {
 	MIPS32_ISA_MIPS32 = 0,
 	MIPS32_ISA_MIPS16E = 1,
@@ -80,21 +251,67 @@ enum mips32_isa_imp {
 	MIPS32_MMIPS32 = 3,
 };
 
+/* Release 2~5 does not have much change regarding to the ISA under User mode,
+* therefore no new Architecture Revision(AR) level is assigned to them.
+* Release 6 changed some instruction's encoding/mnemonic, removed instructions that
+* has lost its purposes/none are using, and added some new instructions as well.
+*/
+enum mips32_isa_rel {
+	MIPS32_RELEASE_1 = 0,
+	MIPS32_RELEASE_2 = 1,
+	MIPS32_RELEASE_6 = 2,
+	MIPS32_RELEASE_UNKNOWN,
+};
+
+enum mips32_fp_imp {
+	MIPS32_FP_IMP_NONE = 0,
+	MIPS32_FP_IMP_32 = 1,
+	MIPS32_FP_IMP_64 = 2,
+	MIPS32_FP_IMP_UNKNOWN = 3,
+};
+
+enum mips32_dsp_imp {
+	MIPS32_DSP_IMP_NONE = 0,
+	MIPS32_DSP_IMP_REV1 = 1,
+	MIPS32_DSP_IMP_REV2 = 2,
+};
+
 struct mips32_comparator {
 	int used;
 	uint32_t bp_value;
 	uint32_t reg_address;
 };
 
+struct mips32_core_regs {
+	uint32_t gpr[MIPS32_REG_GP_COUNT];
+	uint64_t fpr[MIPS32_REG_FP_COUNT];
+	uint32_t fpcr[MIPS32_REG_FPC_COUNT];
+	uint32_t cp0[MIPS32_REG_C0_COUNT];
+};
+
 struct mips32_common {
 	unsigned int common_magic;
 
 	void *arch_info;
 	struct reg_cache *core_cache;
 	struct mips_ejtag ejtag_info;
-	uint32_t core_regs[MIPS32NUMCOREREGS];
+
+	struct mips32_core_regs core_regs;
+
 	enum mips32_isa_mode isa_mode;
 	enum mips32_isa_imp isa_imp;
+	enum mips32_isa_rel isa_rel;
+	enum mips32_fp_imp fp_imp;
+	enum mips32_dsp_imp dsp_imp;
+
+	int fdc;
+	int semihosting;
+	uint32_t cp0_mask;
+
+	/* FPU enabled (cp0.status.cu1) */
+	bool fpu_enabled;
+	/* FPU mode (cp0.status.fr) */
+	bool fpu_in_64bit;
 
 	/* processor identification register */
 	uint32_t prid;
@@ -394,6 +611,173 @@ struct mips32_algorithm {
 
 #define MIPS16_SDBBP(isa)			(isa ? MMIPS16_SDBBP : MIPS16_ISA_SDBBP)
 
+/*
+ * MIPS32 Config1 Register (CP0 Register 16, Select 1)
+ */
+#define MIPS32_CFG1_M			0x80000000		/* Config2 implemented */
+#define MIPS32_CFG1_MMUSMASK		0x7e000000		/* mmu size - 1 */
+#define MIPS32_CFG1_MMUSSHIFT		25
+#define MIPS32_CFG1_ISMASK		0x01c00000		/* icache lines 64<<n */
+#define MIPS32_CFG1_ISSHIFT		22
+#define MIPS32_CFG1_ILMASK		0x00380000		/* icache line size 2<<n */
+#define MIPS32_CFG1_ILSHIFT		19
+#define MIPS32_CFG1_IAMASK		0x00070000		/* icache ways - 1 */
+#define MIPS32_CFG1_IASHIFT		16
+#define MIPS32_CFG1_DSMASK		0x0000e000		/* dcache lines 64<<n */
+#define MIPS32_CFG1_DSSHIFT		13
+#define MIPS32_CFG1_DLMASK		0x00001c00		/* dcache line size 2<<n */
+#define MIPS32_CFG1_DLSHIFT		10
+#define MIPS32_CFG1_DAMASK		0x00000380		/* dcache ways - 1 */
+#define MIPS32_CFG1_DASHIFT		7
+#define MIPS32_CFG1_C2			0x00000040		/* Coprocessor 2 present */
+#define MIPS32_CFG1_MD			0x00000020		/* MDMX implemented */
+#define MIPS32_CFG1_PC			0x00000010		/* performance counters implemented */
+#define MIPS32_CFG1_WR			0x00000008		/* watch registers implemented */
+#define MIPS32_CFG1_CA			0x00000004		/* compression (mips16) implemented */
+#define MIPS32_CFG1_EP			0x00000002		/* ejtag implemented */
+#define MIPS32_CFG1_FP			0x00000001		/* fpu implemented */
+
+/*
+ * MIPS32 Coprocessor 0 register numbers
+ */
+#define MIPS32_C0_INDEX			0
+#define MIPS32_C0_INX			0
+#define MIPS32_C0_RANDOM		1
+#define MIPS32_C0_RAND			1
+#define MIPS32_C0_ENTRYLO0		2
+#define MIPS32_C0_TLBLO0		2
+#define MIPS32_C0_ENTRYLO1		3
+#define MIPS32_C0_TLBLO1		3
+#define MIPS32_C0_CONTEXT		4
+#define MIPS32_C0_CTXT			4
+#define MIPS32_C0_PAGEMASK		5
+#define MIPS32_C0_PAGEGRAIN		(5, 1)
+#define MIPS32_C0_WIRED			6
+#define MIPS32_C0_HWRENA		7
+#define MIPS32_C0_BADVADDR		8
+#define MIPS32_C0_VADDR			8
+#define MIPS32_C0_COUNT			9
+#define MIPS32_C0_ENTRYHI		10
+#define MIPS32_C0_TLBHI			10
+#define MIPS32_C0_GUESTCTL1		10
+#define MIPS32_C0_COMPARE		11
+#define MIPS32_C0_STATUS		12
+#define MIPS32_C0_SR			12
+#define MIPS32_C0_INTCTL		(12, 1)
+#define MIPS32_C0_SRSCTL		(12, 2)
+#define MIPS32_C0_SRSMAP		(12, 3)
+#define MIPS32_C0_CAUSE			13
+#define MIPS32_C0_CR			13
+#define MIPS32_C0_EPC			14
+#define MIPS32_C0_PRID			15
+#define MIPS32_C0_EBASE			(15, 1)
+#define MIPS32_C0_CONFIG		16
+#define MIPS32_C0_CONFIG0		(16, 0)
+#define MIPS32_C0_CONFIG1		(16, 1)
+#define MIPS32_C0_CONFIG2		(16, 2)
+#define MIPS32_C0_CONFIG3		(16, 3)
+#define MIPS32_C0_LLADDR		17
+#define MIPS32_C0_WATCHLO		18
+#define MIPS32_C0_WATCHHI		19
+#define MIPS32_C0_DEBUG			23
+#define MIPS32_C0_DEPC			24
+#define MIPS32_C0_PERFCNT		25
+#define MIPS32_C0_ERRCTL		26
+#define MIPS32_C0_CACHEERR		27
+#define MIPS32_C0_TAGLO			28
+#define MIPS32_C0_ITAGLO		28
+#define MIPS32_C0_DTAGLO		(28, 2)
+#define MIPS32_C0_TAGLO2		(28, 4)
+#define MIPS32_C0_DATALO		(28, 1)
+#define MIPS32_C0_IDATALO		(28, 1)
+#define MIPS32_C0_DDATALO		(28, 3)
+#define MIPS32_C0_DATALO2		(28, 5)
+#define MIPS32_C0_TAGHI			29
+#define MIPS32_C0_ITAGHI		29
+#define MIPS32_C0_DATAHI		(29, 1)
+#define MIPS32_C0_ERRPC			30
+#define MIPS32_C0_DESAVE		31
+
+/*
+ * MIPS32 MMU types
+ */
+#define MIPS32_MMU_TLB			1
+#define MIPS32_MMU_BAT			2
+#define MIPS32_MMU_FIXED		3
+#define MIPS32_MMU_DUAL_VTLB_FTLB	4
+
+enum mips32_cpu_vendor {
+	MIPS32_CPU_VENDOR_MTI,
+	MIPS32_CPU_VENDOR_ALCHEMY,
+	MIPS32_CPU_VENDOR_BROADCOM,
+	MIPS32_CPU_VENDOR_ALTERA,
+	MIPS32_CPU_VENDOR_LEXRA,
+};
+
+enum mips32_isa_supported {
+	MIPS16,
+	MIPS32,
+	MIPS64,
+	MICROMIPS_ONLY,
+	MIPS32_AT_RESET_AND_MICROMIPS,
+	MICROMIPS_AT_RESET_AND_MIPS32,
+};
+
+struct mips32_cpu_features {
+	/* Type of CPU	(4Kc, 24Kf, etc.) */
+	uint32_t cpu_core;
+
+	/* Internal representation of cpu type */
+	uint32_t cpu_type;
+
+	/* Processor vendor */
+	enum mips32_cpu_vendor vendor;
+
+	/* Supported ISA and boot config */
+	enum mips32_isa_supported isa;
+
+	/* PRID */
+	uint32_t prid;
+
+	/* Processor implemented the MultiThreading ASE */
+	bool mtase;
+
+	/* Processor implemented the DSP ASE */
+	bool dspase;
+
+	/* Processor implemented the SmartMIPS ASE */
+	bool smase;
+
+	/* Processor implemented the MIPS16[e] ASE */
+	bool m16ase;
+
+	/* Processor implemented the microMIPS ASE */
+	bool micromipsase;
+
+	/* Processor implemented the Virtualization ASE */
+	uint32_t vzase;
+
+	uint32_t vz_guest_id_width;
+
+	/* ebase.cpuid number */
+	uint32_t cpuid;
+
+	uint32_t inst_cache_size;
+	uint32_t data_cache_size;
+	uint32_t mmu_type;
+	uint32_t tlb_entries;
+	uint32_t num_shadow_regs;
+
+	/* Processor implemented the MSA module */
+	bool msa;
+
+	/* Processor implemented mfhc0 and mthc0 instructions */
+	bool mvh;
+
+	bool guest_ctl1_present;
+	bool cdmm;
+};
+
 extern const struct command_registration mips32_command_handlers[];
 
 int mips32_arch_state(struct target *target);
diff --git a/src/target/mips32_pracc.c b/src/target/mips32_pracc.c
index c4704b5..9f0d87c 100644
--- a/src/target/mips32_pracc.c
+++ b/src/target/mips32_pracc.c
@@ -823,9 +823,13 @@ int mips32_pracc_write_mem(struct mips_ejtag *ejtag_info, uint32_t addr, int siz
 	return retval;
 }
 
-int mips32_pracc_write_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
+int mips32_pracc_write_regs(struct mips32_common *mips32)
 {
+	struct mips_ejtag *ejtag_info = &mips32->ejtag_info;
 	struct pracc_queue_info ctx = {.ejtag_info = ejtag_info};
+	uint32_t *gprs = mips32->core_regs.gpr;
+	uint32_t *c0rs = mips32->core_regs.cp0;
+
 	pracc_queue_init(&ctx);
 
 	uint32_t cp0_write_code[] = {
@@ -837,66 +841,178 @@ int mips32_pracc_write_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
 		MIPS32_MTC0(ctx.isa, 1, 24, 0),					/* move $1 to depc (pc) */
 	};
 
+	uint32_t cp0_write_data[] = {
+		/* lo */
+		gprs[32],
+		/* hi */
+		gprs[33],
+		/* status */
+		c0rs[0],
+		/* badvaddr */
+		c0rs[1],
+		/* cause */
+		c0rs[2],
+		/* depc (pc) */
+		c0rs[3],
+	};
+
+	for (size_t i = 0; i < ARRAY_SIZE(cp0_write_code); i++) {
+		/* load CP0 value in $1 */
+		pracc_add_li32(&ctx, 1, cp0_write_data[i], 0);
+		/* write value from $1 to CP0 register */
+		pracc_add(&ctx, 0, cp0_write_code[i]);
+	}
+
 	/* load registers 2 to 31 with li32, optimize */
 	for (int i = 2; i < 32; i++)
-		pracc_add_li32(&ctx, i, regs[i], 1);
+		pracc_add_li32(&ctx, i, gprs[i], 1);
 
-	for (int i = 0; i != 6; i++) {
-		pracc_add_li32(&ctx, 1, regs[i + 32], 0);	/* load CPO value in $1 */
-		pracc_add(&ctx, 0, cp0_write_code[i]);			/* write value from $1 to CPO register */
-	}
-	pracc_add(&ctx, 0, MIPS32_MTC0(ctx.isa, 15, 31, 0));				/* load $15 in DeSave */
-	pracc_add(&ctx, 0, MIPS32_LUI(ctx.isa, 1, UPPER16((regs[1]))));		/* load upper half word in $1 */
-	pracc_add(&ctx, 0, MIPS32_B(ctx.isa, NEG16((ctx.code_count + 1) << ctx.isa)));		/* jump to start */
-	pracc_add(&ctx, 0, MIPS32_ORI(ctx.isa, 1, 1, LOWER16((regs[1]))));	/* load lower half word in $1 */
+	/* load $15 in DeSave */
+	pracc_add(&ctx, 0, MIPS32_MTC0(ctx.isa, 15, 31, 0));
+	/* load upper half word in $1 */
+	pracc_add(&ctx, 0, MIPS32_LUI(ctx.isa, 1, UPPER16((gprs[1]))));
+	/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_B(ctx.isa, NEG16((ctx.code_count + 1) << ctx.isa)));
+	/* load lower half word in $1 */
+	pracc_add(&ctx, 0, MIPS32_ORI(ctx.isa, 1, 1, LOWER16((gprs[1]))));
 
 	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, NULL, 1);
 
-	ejtag_info->reg8 = regs[8];
-	ejtag_info->reg9 = regs[9];
+	ejtag_info->reg8 = gprs[8];
+	ejtag_info->reg9 = gprs[9];
 	pracc_queue_free(&ctx);
 	return ctx.retval;
 }
 
-int mips32_pracc_read_regs(struct mips_ejtag *ejtag_info, uint32_t *regs)
+/* Saves content in `$1` to `DeSave(cp0.31.0)` and loads `MIPS32_PRACC_BASE_ADDR` into `$1` */
+static void mips32_pracc_store_regs_set_base_addr(struct pracc_queue_info *ctx)
 {
-	struct pracc_queue_info ctx = {.ejtag_info = ejtag_info};
-	pracc_queue_init(&ctx);
+	/* move $1 to COP0 DeSave */
+	pracc_add(ctx, 0, MIPS32_MTC0(ctx->isa, 1, 31, 0));
+	/* $1 = MIP32_PRACC_BASE_ADDR */
+	pracc_add(ctx, 0, MIPS32_LUI(ctx->isa, 1, PRACC_UPPER_BASE_ADDR));
+}
 
-	uint32_t cp0_read_code[] = {
-		MIPS32_MFC0(ctx.isa, 8, 12, 0),					/* move status to $8 */
-		MIPS32_MFLO(ctx.isa, 8),						/* move lo to $8 */
-		MIPS32_MFHI(ctx.isa, 8),						/* move hi to $8 */
-		MIPS32_MFC0(ctx.isa, 8, 8, 0),					/* move badvaddr to $8 */
-		MIPS32_MFC0(ctx.isa, 8, 13, 0),					/* move cause to $8 */
-		MIPS32_MFC0(ctx.isa, 8, 24, 0),					/* move depc (pc) to $8 */
+/* This function assumes the address for saving is stored in `$1`.
+ * And that action is performed in `mips32_pracc_set_save_base_addr`.
+ */
+static void mips32_pracc_store_regs_gpr(struct pracc_queue_info *ctx, unsigned int offset_gpr)
+{
+	for (int i = 2; i != 32; i++)
+		pracc_add(ctx, MIPS32_PRACC_PARAM_OUT + offset_gpr + (i * 4),
+				MIPS32_SW(ctx->isa, i, PRACC_OUT_OFFSET + offset_gpr + (i * 4), 1));
+}
+
+static void mips32_pracc_store_regs_lohi(struct pracc_queue_info *ctx)
+{
+	uint32_t lohi_read_code[] = {
+		MIPS32_MFLO(ctx->isa, 8),	/* move lo to $8 */
+		MIPS32_MFHI(ctx->isa, 8),	/* move hi to $8 */
 	};
 
-	pracc_add(&ctx, 0, MIPS32_MTC0(ctx.isa, 1, 31, 0));				/* move $1 to COP0 DeSave */
-	pracc_add(&ctx, 0, MIPS32_LUI(ctx.isa, 1, PRACC_UPPER_BASE_ADDR));	/* $1 = MIP32_PRACC_BASE_ADDR */
+	/* store lo & hi */
+	for (int i = 0; i < 2; i++) {
+		/* load COP0 needed registers to $8 */
+		pracc_add(ctx, 0, lohi_read_code[i]);
+		/* store $8 at PARAM OUT */
+		pracc_add(ctx, MIPS32_PRACC_PARAM_OUT + (i + 32) * 4,
+					MIPS32_SW(ctx->isa, 8, PRACC_OUT_OFFSET + (i + 32) * 4, 1));
+	}
+}
 
-	for (int i = 2; i != 32; i++)					/* store GPR's 2 to 31 */
-		pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + (i * 4),
-				  MIPS32_SW(ctx.isa, i, PRACC_OUT_OFFSET + (i * 4), 1));
+/* Saves CP0 registers [status, badvaddr, cause, depc] */
+static void mips32_pracc_store_regs_cp0_context(struct pracc_queue_info *ctx, unsigned int offset_cp0)
+{
+	uint32_t cp0_read_code[] = {
+		MIPS32_MFC0(ctx->isa, 8, 12, 0),	/* move status to $8 */
+		MIPS32_MFC0(ctx->isa, 8, 8, 0),	/* move badvaddr to $8 */
+		MIPS32_MFC0(ctx->isa, 8, 13, 0),	/* move cause to $8 */
+		MIPS32_MFC0(ctx->isa, 8, 24, 0),	/* move depc (pc) to $8 */
+	};
 
-	for (int i = 0; i != 6; i++) {
-		pracc_add(&ctx, 0, cp0_read_code[i]);				/* load COP0 needed registers to $8 */
-		pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + (i + 32) * 4,			/* store $8 at PARAM OUT */
-				  MIPS32_SW(ctx.isa, 8, PRACC_OUT_OFFSET + (i + 32) * 4, 1));
+	/* store cp0 */
+	for (size_t i = 0; i < ARRAY_SIZE(cp0_read_code); i++) {
+		size_t offset = offset_cp0 + (i * 4);
+
+		/* load COP0 needed registers to $8 */
+		pracc_add(ctx, 0, cp0_read_code[i]);
+		/* store $8 at PARAM OUT */
+		pracc_add(ctx, MIPS32_PRACC_PARAM_OUT + offset,
+					MIPS32_SW(ctx->isa, 8, PRACC_OUT_OFFSET + offset, 1));
 	}
-	pracc_add(&ctx, 0, MIPS32_MFC0(ctx.isa, 8, 31, 0));			/* move DeSave to $8, reg1 value */
-	pracc_add(&ctx, MIPS32_PRACC_PARAM_OUT + 4,			/* store reg1 value from $8 to param out */
-			  MIPS32_SW(ctx.isa, 8, PRACC_OUT_OFFSET + 4, 1));
+}
 
-	pracc_add(&ctx, 0, MIPS32_MFC0(ctx.isa, 1, 31, 0));		/* move COP0 DeSave to $1, restore reg1 */
-	pracc_add(&ctx, 0, MIPS32_B(ctx.isa, NEG16((ctx.code_count + 1) << ctx.isa)));		/* jump to start */
-	pracc_add(&ctx, 0, MIPS32_MTC0(ctx.isa, 15, 31, 0));				/* load $15 in DeSave */
+/* Loads original content of $1 into $8,
+ * then store it to the batch data access address.
+ * Finally it restores $1 from DeSave.
+ */
+static void mips32_pracc_store_regs_restore(struct pracc_queue_info *ctx)
+{
+	/* move DeSave to $8, reg1 value */
+	pracc_add(ctx, 0, MIPS32_MFC0(ctx->isa, 8, 31, 0));
+	/* store reg1 value from $8 to param out */
+	pracc_add(ctx, MIPS32_PRACC_PARAM_OUT + 4,
+			  MIPS32_SW(ctx->isa, 8, PRACC_OUT_OFFSET + 4, 1));
+
+	/* move COP0 DeSave to $1, restore reg1 */
+	pracc_add(ctx, 0, MIPS32_MFC0(ctx->isa, 1, 31, 0));
+}
+
+/* This function performs following actions:
+ * Saves `$1` to `DeSave`,
+ * then load `PRACC_UPPER_BASE_ADDR` for saving the register data structure into `$1`,
+ * Saves `$2` ~ `$31` to `PRACC_UPPER_BASE_ADDR + offset_gpr`
+ * Saves HI and LO,
+ * Saves necessary cp0 registers.
+*/
+static void mips32_pracc_store_regs(struct pracc_queue_info *ctx,
+					unsigned int offset_gpr, unsigned int offset_cp0)
+{
+	mips32_pracc_store_regs_set_base_addr(ctx);
+	mips32_pracc_store_regs_gpr(ctx, offset_gpr);
+	mips32_pracc_store_regs_lohi(ctx);
+	mips32_pracc_store_regs_cp0_context(ctx, offset_cp0);
+	mips32_pracc_store_regs_restore(ctx);
+}
+
+int mips32_pracc_read_regs(struct mips32_common *mips32)
+{
+	struct mips_ejtag *ejtag_info = &mips32->ejtag_info;
+	struct pracc_queue_info ctx = {.ejtag_info = ejtag_info};
+	struct mips32_core_regs *core_regs = &mips32->core_regs;
+	unsigned int offset_gpr = ((uint8_t *)&core_regs->gpr[0]) - (uint8_t *)core_regs;
+	unsigned int offset_cp0 = ((uint8_t *)&core_regs->cp0[0]) - (uint8_t *)core_regs;
+
+	/*
+	 * This procedure has to be in 2 distinctive steps, because we can
+	 * only know whether FP is enabled after reading CP0.
+	 *
+	 * Step 1: Read everything except CP1 stuff
+	 * Step 2: Read CP1 stuff if FP is implemented
+	 */
+
+	pracc_queue_init(&ctx);
 
-	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, regs, 1);
+	mips32_pracc_store_regs(&ctx, offset_gpr, offset_cp0);
+
+	/* jump to start */
+	pracc_add(&ctx, 0, MIPS32_B(ctx.isa, NEG16((ctx.code_count + 1) << ctx.isa)));
+	/* load $15 in DeSave */
+	pracc_add(&ctx, 0, MIPS32_MTC0(ctx.isa, 15, 31, 0));
+
+	ctx.retval = mips32_pracc_queue_exec(ejtag_info, &ctx, (uint32_t *)&mips32->core_regs, 1);
 
-	ejtag_info->reg8 = regs[8];	/* reg8 is saved but not restored, next called function should restore it */
-	ejtag_info->reg9 = regs[9];
 	pracc_queue_free(&ctx);
+
+	/* reg8 is saved but not restored, next called function should restore it */
+	ejtag_info->reg8 = mips32->core_regs.gpr[8];
+	ejtag_info->reg9 = mips32->core_regs.gpr[9];
+
+	/* we only care if FP is actually impl'd and if cp1 is enabled */
+	/* since we already read cp0 in the prev step */
+	/* now we know what's in cp0.status */
+	/* TODO: Read FPRs */
+
 	return ctx.retval;
 }
 
diff --git a/src/target/mips32_pracc.h b/src/target/mips32_pracc.h
index 1b00768..587a446 100644
--- a/src/target/mips32_pracc.h
+++ b/src/target/mips32_pracc.h
@@ -36,6 +36,8 @@
 
 #define PRACC_BLOCK	128	/* 1 Kbyte */
 
+struct mips32_common;
+
 struct pa_list {
 	uint32_t instr;
 	uint32_t addr;
@@ -64,8 +66,8 @@ int mips32_pracc_write_mem(struct mips_ejtag *ejtag_info,
 int mips32_pracc_fastdata_xfer(struct mips_ejtag *ejtag_info, struct working_area *source,
 		int write_t, uint32_t addr, int count, uint32_t *buf);
 
-int mips32_pracc_read_regs(struct mips_ejtag *ejtag_info, uint32_t *regs);
-int mips32_pracc_write_regs(struct mips_ejtag *ejtag_info, uint32_t *regs);
+int mips32_pracc_read_regs(struct mips32_common *mips32);
+int mips32_pracc_write_regs(struct mips32_common *mips32);
 
 /**
  * \b mips32_cp0_read
diff --git a/src/target/mips64.c b/src/target/mips64.c
index 37f3685..48f4563 100644
--- a/src/target/mips64.c
+++ b/src/target/mips64.c
@@ -247,8 +247,8 @@ static int mips64_set_core_reg(struct reg *reg, uint8_t *buf)
 		return ERROR_TARGET_NOT_HALTED;
 
 	buf_set_u64(reg->value, 0, 64, value);
-	reg->dirty = 1;
-	reg->valid = 1;
+	reg->dirty = true;
+	reg->valid = true;
 
 	return ERROR_OK;
 }
@@ -265,8 +265,8 @@ static int mips64_read_core_reg(struct target *target, int num)
 
 	reg_value = mips64->core_regs[num];
 	buf_set_u64(mips64->core_cache->reg_list[num].value, 0, 64, reg_value);
-	mips64->core_cache->reg_list[num].valid = 1;
-	mips64->core_cache->reg_list[num].dirty = 0;
+	mips64->core_cache->reg_list[num].valid = true;
+	mips64->core_cache->reg_list[num].dirty = false;
 
 	return ERROR_OK;
 }
@@ -284,8 +284,8 @@ static int mips64_write_core_reg(struct target *target, int num)
 	reg_value = buf_get_u64(mips64->core_cache->reg_list[num].value, 0, 64);
 	mips64->core_regs[num] = reg_value;
 	LOG_DEBUG("write core reg %i value 0x%" PRIx64 "", num, reg_value);
-	mips64->core_cache->reg_list[num].valid = 1;
-	mips64->core_cache->reg_list[num].dirty = 0;
+	mips64->core_cache->reg_list[num].valid = true;
+	mips64->core_cache->reg_list[num].dirty = false;
 
 	return ERROR_OK;
 }
@@ -297,8 +297,8 @@ int mips64_invalidate_core_regs(struct target *target)
 	unsigned int i;
 
 	for (i = 0; i < mips64->core_cache->num_regs; i++) {
-		mips64->core_cache->reg_list[i].valid = 0;
-		mips64->core_cache->reg_list[i].dirty = 0;
+		mips64->core_cache->reg_list[i].valid = false;
+		mips64->core_cache->reg_list[i].dirty = false;
 	}
 
 	return ERROR_OK;
diff --git a/src/target/mips_ejtag.h b/src/target/mips_ejtag.h
index eb80742..852444a 100644
--- a/src/target/mips_ejtag.h
+++ b/src/target/mips_ejtag.h
@@ -123,11 +123,12 @@
 
 /* Debug Control Register DCR */
 #define EJTAG_DCR				0xFF300000
-#define EJTAG_DCR_ENM			(1 << 29)
-#define EJTAG_DCR_DB			(1 << 17)
-#define EJTAG_DCR_IB			(1 << 16)
-#define EJTAG_DCR_INTE			(1 << 4)
-#define EJTAG_DCR_MP			(1 << 2)
+#define EJTAG_DCR_ENM			BIT(29)
+#define EJTAG_DCR_FDC			BIT(18)
+#define EJTAG_DCR_DB			BIT(17)
+#define EJTAG_DCR_IB			BIT(16)
+#define EJTAG_DCR_INTE			BIT(4)
+#define EJTAG_DCR_MP			BIT(2)
 
 /* breakpoint support */
 /* EJTAG_V20_* was tested on Broadcom BCM7401
diff --git a/src/target/mips_m4k.c b/src/target/mips_m4k.c
index 46d241c..0a06bb1 100644
--- a/src/target/mips_m4k.c
+++ b/src/target/mips_m4k.c
@@ -108,11 +108,11 @@ static int mips_m4k_debug_entry(struct target *target)
 	mips32->isa_mode = MIPS32_ISA_MIPS32;
 
 	/* other than mips32 only and isa bit set ? */
-	if (mips32->isa_imp && buf_get_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 1))
+	if (mips32->isa_imp && buf_get_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 1))
 		mips32->isa_mode = mips32->isa_imp == 2 ? MIPS32_ISA_MIPS16E : MIPS32_ISA_MMIPS32;
 
 	LOG_DEBUG("entered debug state at PC 0x%" PRIx32 ", target->state: %s",
-			buf_get_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 32),
+			buf_get_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 32),
 			target_state_name(target));
 
 	return ERROR_OK;
@@ -443,18 +443,18 @@ static int mips_m4k_internal_restore(struct target *target, int current,
 	/* current = 1: continue on current pc, otherwise continue at <address> */
 	if (!current) {
 		mips_m4k_isa_filter(mips32->isa_imp, &address);
-		buf_set_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 32, address);
-		mips32->core_cache->reg_list[MIPS32_PC].dirty = true;
-		mips32->core_cache->reg_list[MIPS32_PC].valid = true;
+		buf_set_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 32, address);
+		mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].dirty = true;
+		mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].valid = true;
 	}
 
 	if ((mips32->isa_imp > 1) &&  debug_execution)	/* if more than one isa supported */
-		buf_set_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 1, mips32->isa_mode);
+		buf_set_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 1, mips32->isa_mode);
 
 	if (!current)
 		resume_pc = address;
 	else
-		resume_pc = buf_get_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 32);
+		resume_pc = buf_get_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 32);
 
 	mips32_restore_context(target);
 
@@ -537,15 +537,15 @@ static int mips_m4k_step(struct target *target, int current,
 	/* current = 1: continue on current pc, otherwise continue at <address> */
 	if (!current) {
 		mips_m4k_isa_filter(mips32->isa_imp, &address);
-		buf_set_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 32, address);
-		mips32->core_cache->reg_list[MIPS32_PC].dirty = true;
-		mips32->core_cache->reg_list[MIPS32_PC].valid = true;
+		buf_set_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 32, address);
+		mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].dirty = true;
+		mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].valid = true;
 	}
 
 	/* the front-end may request us not to handle breakpoints */
 	if (handle_breakpoints) {
 		breakpoint = breakpoint_find(target,
-				buf_get_u32(mips32->core_cache->reg_list[MIPS32_PC].value, 0, 32));
+				buf_get_u32(mips32->core_cache->reg_list[MIPS32_REGLIST_C0_PC_INDEX].value, 0, 32));
 		if (breakpoint)
 			mips_m4k_unset_breakpoint(target, breakpoint);
 	}
diff --git a/src/target/mips_mips64.c b/src/target/mips_mips64.c
index bf60953..9921e93 100644
--- a/src/target/mips_mips64.c
+++ b/src/target/mips_mips64.c
@@ -625,8 +625,8 @@ static int mips_mips64_resume(struct target *target, int current,
 	/* current = 1: continue on current pc, otherwise continue at <address> */
 	if (!current) {
 		buf_set_u64(pc->value, 0, 64, address);
-		pc->dirty = 1;
-		pc->valid = 1;
+		pc->dirty = true;
+		pc->valid = true;
 	}
 
 	resume_pc = buf_get_u64(pc->value, 0, 64);
@@ -717,8 +717,8 @@ static int mips_mips64_step(struct target *target, int current,
 	 * <address> */
 	if (!current) {
 		buf_set_u64(pc->value, 0, 64, address);
-		pc->dirty = 1;
-		pc->valid = 1;
+		pc->dirty = true;
+		pc->valid = true;
 	}
 
 	/* the front-end may request us not to handle breakpoints */
diff --git a/src/target/target.c b/src/target/target.c
index 167b1ea..cfd0641 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -3053,6 +3053,10 @@ COMMAND_HANDLER(handle_reg_command)
 	LOG_DEBUG("-");
 
 	struct target *target = get_current_target(CMD_CTX);
+	if (!target_was_examined(target)) {
+		LOG_ERROR("Target not examined yet");
+		return ERROR_TARGET_NOT_EXAMINED;
+	}
 	struct reg *reg = NULL;
 
 	/* list all available registers for the current target */
@@ -3117,7 +3121,7 @@ COMMAND_HANDLER(handle_reg_command)
 		if (!reg) {
 			command_print(CMD, "%i is out of bounds, the current target "
 					"has only %i registers (0 - %i)", num, count, count - 1);
-			return ERROR_OK;
+			return ERROR_FAIL;
 		}
 	} else {
 		/* access a single register by its name */
@@ -3136,9 +3140,9 @@ COMMAND_HANDLER(handle_reg_command)
 	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;
+			reg->valid = false;
 
-		if (reg->valid == 0) {
+		if (!reg->valid) {
 			int retval = reg->type->get(reg);
 			if (retval != ERROR_OK) {
 				LOG_ERROR("Could not read register '%s'", reg->name);
@@ -3176,7 +3180,7 @@ COMMAND_HANDLER(handle_reg_command)
 
 not_found:
 	command_print(CMD, "register %s not found in current target", CMD_ARGV[0]);
-	return ERROR_OK;
+	return ERROR_FAIL;
 }
 
 COMMAND_HANDLER(handle_poll_command)
@@ -4071,13 +4075,14 @@ COMMAND_HANDLER(handle_wp_command)
 		struct watchpoint *watchpoint = target->watchpoints;
 
 		while (watchpoint) {
+			char wp_type = (watchpoint->rw == WPT_READ ? 'r' : (watchpoint->rw == WPT_WRITE ? 'w' : 'a'));
 			command_print(CMD, "address: " TARGET_ADDR_FMT
 					", len: 0x%8.8" PRIx32
-					", r/w/a: %i, value: 0x%8.8" PRIx64
+					", r/w/a: %c, value: 0x%8.8" PRIx64
 					", mask: 0x%8.8" PRIx64,
 					watchpoint->address,
 					watchpoint->length,
-					(int)watchpoint->rw,
+					wp_type,
 					watchpoint->value,
 					watchpoint->mask);
 			watchpoint = watchpoint->next;
@@ -4138,17 +4143,28 @@ COMMAND_HANDLER(handle_wp_command)
 
 COMMAND_HANDLER(handle_rwp_command)
 {
+	int retval;
+
 	if (CMD_ARGC != 1)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
-	target_addr_t addr;
-	COMMAND_PARSE_ADDRESS(CMD_ARGV[0], addr);
-
 	struct target *target = get_current_target(CMD_CTX);
-	int retval = watchpoint_remove(target, addr);
+	if (!strcmp(CMD_ARGV[0], "all")) {
+		retval = watchpoint_remove_all(target);
 
-	if (retval != ERROR_OK)
-		command_print(CMD, "Error during removal of watchpoint at address " TARGET_ADDR_FMT, addr);
+		if (retval != ERROR_OK) {
+			command_print(CMD, "Error encountered during removal of all watchpoints.");
+			command_print(CMD, "Some watchpoints may have remained set.");
+		}
+	} else {
+		target_addr_t addr;
+		COMMAND_PARSE_ADDRESS(CMD_ARGV[0], addr);
+
+		retval = watchpoint_remove(target, addr);
+
+		if (retval != ERROR_OK)
+			command_print(CMD, "Error during removal of watchpoint at address " TARGET_ADDR_FMT, addr);
+	}
 
 	return retval;
 }
@@ -5135,7 +5151,7 @@ static int target_jim_get_reg(Jim_Interp *interp, int argc,
 			return JIM_ERR;
 		}
 
-		if (force) {
+		if (force || !reg->valid) {
 			int retval = reg->type->get(reg);
 
 			if (retval != ERROR_OK) {
@@ -5860,6 +5876,18 @@ COMMAND_HANDLER(handle_target_current_state)
 	return ERROR_OK;
 }
 
+COMMAND_HANDLER(handle_target_debug_reason)
+{
+	if (CMD_ARGC != 0)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	struct target *target = get_current_target(CMD_CTX);
+
+	command_print(CMD, "%s", debug_reason_name(target));
+
+	return ERROR_OK;
+}
+
 static int jim_target_invoke_event(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 {
 	struct jim_getopt_info goi;
@@ -6012,6 +6040,13 @@ static const struct command_registration target_instance_command_handlers[] = {
 		.usage = "",
 	},
 	{
+		.name = "debug_reason",
+		.mode = COMMAND_EXEC,
+		.handler = handle_target_debug_reason,
+		.help = "displays the debug reason of this target",
+		.usage = "",
+	},
+	{
 		.name = "arp_examine",
 		.mode = COMMAND_EXEC,
 		.handler = handle_target_examine,
@@ -6110,7 +6145,7 @@ static int target_create(struct jim_getopt_info *goi)
 	if (e != JIM_OK)
 		return e;
 	struct transport *tr = get_current_transport();
-	if (tr->override_target) {
+	if (tr && tr->override_target) {
 		e = tr->override_target(&cp);
 		if (e != ERROR_OK) {
 			LOG_ERROR("The selected transport doesn't support this target");
@@ -7067,7 +7102,7 @@ static const struct command_registration target_exec_command_handlers[] = {
 		.handler = handle_rwp_command,
 		.mode = COMMAND_EXEC,
 		.help = "remove watchpoint",
-		.usage = "address",
+		.usage = "'all' | address",
 	},
 	{
 		.name = "load_image",
diff --git a/tcl/board/advantech_imx8qm_dmsse20.cfg b/tcl/board/advantech_imx8qm_dmsse20.cfg
new file mode 100644
index 0000000..a867b2d
--- /dev/null
+++ b/tcl/board/advantech_imx8qm_dmsse20.cfg
@@ -0,0 +1,23 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# configuration file for Advantech IMX8QM DMSSE20
+#
+
+# only JTAG supported
+transport select jtag
+
+# set a safe JTAG clock speed, can be overridden
+adapter speed 1000
+
+# default JTAG configuration has only SRST and no TRST
+reset_config srst_only srst_push_pull
+
+# delay after SRST goes inactive
+adapter srst delay 70
+
+# board has an i.MX8QM with 4 Cortex-A53 cores and 2 Cortex-A72
+set CHIPNAME imx8qm
+set CHIPCORES 6
+
+# source SoC configuration
+source [find tcl/target/imx8qm.cfg]
diff --git a/tcl/board/ti_am243_launchpad.cfg b/tcl/board/ti_am243_launchpad.cfg
new file mode 100644
index 0000000..aa75dda
--- /dev/null
+++ b/tcl/board/ti_am243_launchpad.cfg
@@ -0,0 +1,25 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+# Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
+#
+# Texas Instruments AM243 Launchpad
+# https://www.ti.com/tool/LP-AM243
+#
+
+# AM243 Launchpad has an xds110 onboard.
+source [find interface/xds110.cfg]
+
+transport select jtag
+
+# default JTAG configuration has only SRST and no TRST
+reset_config srst_only srst_push_pull
+
+# delay after SRST goes inactive
+adapter srst delay 20
+
+if { ![info exists SOC] } {
+	set SOC am243
+}
+
+source [find target/ti_k3.cfg]
+
+adapter speed 250
diff --git a/tcl/board/ti_am263_launchpad.cfg b/tcl/board/ti_am263_launchpad.cfg
new file mode 100644
index 0000000..a07a21b
--- /dev/null
+++ b/tcl/board/ti_am263_launchpad.cfg
@@ -0,0 +1,25 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+# Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
+#
+# Texas Instruments AM263 Launchpad
+# https://www.ti.com/tool/LP-AM263
+#
+
+# AM263 Launchpad has an xds110 onboard.
+source [find interface/xds110.cfg]
+
+transport select jtag
+
+# default JTAG configuration has only SRST and no TRST
+reset_config srst_only srst_push_pull
+
+# delay after SRST goes inactive
+adapter srst delay 20
+
+if { ![info exists SOC] } {
+	set SOC am263
+}
+
+source [find target/ti_k3.cfg]
+
+adapter speed 250
diff --git a/tcl/board/ti_am273_launchpad.cfg b/tcl/board/ti_am273_launchpad.cfg
new file mode 100644
index 0000000..c17170b
--- /dev/null
+++ b/tcl/board/ti_am273_launchpad.cfg
@@ -0,0 +1,25 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+# Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
+#
+# Texas Instruments AM273 Launchpad
+# https://www.ti.com/tool/LP-AM273
+#
+
+# AM273 Launchpad has an xds110 onboard.
+source [find interface/xds110.cfg]
+
+transport select jtag
+
+# default JTAG configuration has only SRST and no TRST
+reset_config srst_only srst_push_pull
+
+# delay after SRST goes inactive
+adapter srst delay 20
+
+if { ![info exists SOC] } {
+	set SOC am273
+}
+
+source [find target/ti_k3.cfg]
+
+adapter speed 250
diff --git a/tcl/target/nrf52.cfg b/tcl/target/nrf52.cfg
index 2539be0..0c82c57 100644
--- a/tcl/target/nrf52.cfg
+++ b/tcl/target/nrf52.cfg
@@ -5,6 +5,7 @@
 #
 
 source [find target/swj-dp.tcl]
+source [find mem_helper.tcl]
 
 if { [info exists CHIPNAME] } {
 	set _CHIPNAME $CHIPNAME
@@ -116,3 +117,51 @@ proc nrf52_recover {} {
 }
 
 add_help_text nrf52_recover "Mass erase and unlock nRF52 device"
+
+tpiu create $_CHIPNAME.tpiu -dap $_CHIPNAME.dap -ap-num 0 -baseaddr 0xE0040000
+
+lappend _telnet_autocomplete_skip _proc_pre_enable_$_CHIPNAME.tpiu
+proc _proc_pre_enable_$_CHIPNAME.tpiu {_targetname _chipname} {
+	targets $_targetname
+
+	# Read FICR.INFO.PART
+	set PART [mrw 0x10000100]
+
+	switch $PART {
+		0x52840 -
+		0x52833 -
+		0x52832 {
+			if { [$_chipname.tpiu cget -protocol] eq "sync" } {
+				if { [$_chipname.tpiu cget -port-width] != 4 } {
+					echo "Error. Device only supports 4-bit sync traces."
+					return
+				}
+
+				# Set TRACECONFIG.TRACEMUX to enable synchronous trace
+				mmw 0x4000055C 0x00020000 0x00010000
+				$_targetname configure -event reset-end {
+					mmw 0x4000055C 0x00020000 0x00010000
+				}
+			} else {
+				# Set TRACECONFIG.TRACEMUX to enable SWO
+				mmw 0x4000055C 0x00010000 0x00020000
+				$_targetname configure -event reset-end {
+					mmw 0x4000055C 0x00010000 0x00020000
+				}
+			}
+		}
+		0x52820 -
+		0x52811 -
+		0x52810 -
+		0x52805 {
+			echo "Error: Device does not support TPIU"
+			return
+		}
+		default {
+			echo "Error: Unknown device"
+			return
+		}
+	}
+}
+
+$_CHIPNAME.tpiu configure -event pre-enable "_proc_pre_enable_$_CHIPNAME.tpiu $_TARGETNAME $_CHIPNAME"
diff --git a/tcl/target/ti_k3.cfg b/tcl/target/ti_k3.cfg
index 01e11c6..23825b8 100644
--- a/tcl/target/ti_k3.cfg
+++ b/tcl/target/ti_k3.cfg
@@ -2,24 +2,30 @@
 # Copyright (C) 2019-2021 Texas Instruments Incorporated - http://www.ti.com/
 #
 # Texas Instruments K3 devices:
+# * AM243: https://www.ti.com/lit/pdf/spruim2
+#  Has 4 R5 Cores, M4F and an M3
+# * AM263: https://www.ti.com/lit/pdf/spruj17
+#  Has 4 R5 Cores and an M3
+# * AM273: https://www.ti.com/lit/pdf/spruiu0
+#  Has 2 R5 Cores and an M3
+# * AM625: https://www.ti.com/lit/pdf/spruiv7a
+#  Has 4 ARMV8 Cores and 1 R5 Core and an M4F
+# * AM62A7: https://www.ti.com/lit/pdf/spruj16a
+#  Has 4 ARMV8 Cores and 2 R5 Cores
+# * AM62P: https://www.ti.com/lit/pdf/spruj83
+#  Has 4 ARMV8 Cores and 2 R5 Cores
+# * AM642: https://www.ti.com/lit/pdf/spruim2
+#  Has 2 ARMV8 Cores and 4 R5 Cores, M4F and an M3
 # * AM654x: https://www.ti.com/lit/pdf/spruid7
 #  Has 4 ARMV8 Cores and 2 R5 Cores and an M3
-# * J721E: https://www.ti.com/lit/pdf/spruil1
-#  Has 2 ARMV8 Cores and 6 R5 Cores and an M3
 # * J7200: https://www.ti.com/lit/pdf/spruiu1
 #  Has 2 ARMV8 Cores and 4 R5 Cores and an M3
+# * J721E: https://www.ti.com/lit/pdf/spruil1
+#  Has 2 ARMV8 Cores and 6 R5 Cores and an M3
 # * J721S2: https://www.ti.com/lit/pdf/spruj28
 #  Has 2 ARMV8 Cores and 6 R5 Cores and an M4F
 # * J784S4/AM69: http://www.ti.com/lit/zip/spruj52
 #  Has 8 ARMV8 Cores and 8 R5 Cores
-# * AM642: https://www.ti.com/lit/pdf/spruim2
-#  Has 2 ARMV8 Cores and 4 R5 Cores, M4F and an M3
-# * AM625: https://www.ti.com/lit/pdf/spruiv7a
-#  Has 4 ARMV8 Cores and 1 R5 Core and an M4F
-# * AM62a7: https://www.ti.com/lit/pdf/spruj16a
-#  Has 4 ARMV8 Cores and 2 R5 Cores
-# * AM62P: https://www.ti.com/lit/pdf/spruj83
-#  Has 4 ARMV8 Cores and 2 R5 Cores
 #
 
 source [find target/swj-dp.tcl]
@@ -44,6 +50,7 @@ set CM3_CTIBASE		{0x3C016000}
 
 # sysctrl power-ap unlock offsets
 set _sysctrl_ap_unlock_offsets {0xf0 0x44}
+set _sysctrl_ap_num 7
 
 # All the ARMV8s are the next processors.
 #		   CL0,CORE0  CL0,CORE1  CL1,CORE0  CL1,CORE1
@@ -55,6 +62,7 @@ set ARMV8_CTIBASE {0x90420000 0x90520000 0x90820000 0x90920000}
 set R5_DBGBASE {0x9d010000 0x9d012000 0x9d410000 0x9d412000 0x9d510000 0x9d512000}
 set R5_CTIBASE {0x9d018000 0x9d019000 0x9d418000 0x9d419000 0x9d518000 0x9d519000}
 set R5_NAMES {mcu_r5.0 mcu_r5.1 main0_r5.0 main0_r5.1 main1_r5.0 main1_r5.1}
+set _r5_ap_num 1
 
 # Finally an General Purpose(GP) MCU
 set CM4_CTIBASE		{0x20001000}
@@ -64,8 +72,46 @@ set _gp_mcu_cores 0
 # General Purpose MCU power-ap unlock offsets
 set _gp_mcu_ap_unlock_offsets {0xf0 0x60}
 
+# Generic mem-ap port number
+set _mem_ap_num 2
+
 # Set configuration overrides for each SOC
 switch $_soc {
+	am263 {
+		set _K3_DAP_TAPID 0x2bb7d02f
+
+		# Mem-ap port
+		set _mem_ap_num 6
+
+		# AM263 has 0 ARMV8 CPUs
+		set _armv8_cores 0
+
+		# AM263 has 2 cluster of 2 R5s cores.
+		set _r5_cores 4
+		set R5_NAMES {main0_r5.0 main0_r5.1 main1_r5.0 main1_r5.1}
+		set R5_DBGBASE {0x90030000 0x90032000 0x90050000 0x90052000}
+		set R5_CTIBASE {0x90038000 0x90039000 0x90058000 0x90059000}
+		set _r5_ap_num 5
+	}
+	am273 {
+		set _K3_DAP_TAPID 0x1bb6a02f
+
+		# Mem-ap port
+		set _mem_ap_num 6
+
+		# system controller is on AP0
+		set _sysctrl_ap_num 0
+
+		# AM273 has 0 ARMV8 CPUs
+		set _armv8_cores 0
+
+		# AM273 has 1 cluster of 2 R5s cores.
+		set _r5_cores 2
+		set R5_NAMES {main0_r5.0 main0_r5.1}
+		set R5_DBGBASE {0x90030000 0x90032000}
+		set R5_CTIBASE {0x90038000 0x90039000}
+		set _r5_ap_num 5
+	}
 	am654 {
 		set _K3_DAP_TAPID 0x0bb5a02f
 
@@ -80,6 +126,7 @@ switch $_soc {
 		# Sysctrl power-ap unlock offsets
 		set _sysctrl_ap_unlock_offsets {0xf0 0x50}
 	}
+	am243 -
 	am642 {
 		set _K3_DAP_TAPID 0x0bb3802f
 
@@ -97,6 +144,12 @@ switch $_soc {
 
 		# M4 processor
 		set _gp_mcu_cores 1
+
+		# Overrides for am243
+		if { "$_soc" == "am243" } {
+			# Uses the same JTAG ID
+			set _armv8_cores 0
+		}
 	}
 	am625 {
 		set _K3_DAP_TAPID 0x0bb7e02f
@@ -248,6 +301,13 @@ switch $_soc {
 	}
 }
 
+proc _get_rtos_type_for_cpu { target_name } {
+	if { [info exists ::RTOS($target_name)] } {
+		return $::RTOS($target_name)
+	}
+	return none
+}
+
 set _CHIPNAME $_soc
 
 swj_newdap $_CHIPNAME cpu -irlen 4 -expected-id $_K3_DAP_TAPID -ignore-version
@@ -259,8 +319,13 @@ set _TARGETNAME $_CHIPNAME.cpu
 set _CTINAME $_CHIPNAME.cti
 
 # sysctrl is always present
-cti create $_CTINAME.sysctrl -dap $_CHIPNAME.dap -ap-num 7 -baseaddr [lindex $CM3_CTIBASE 0]
-target create $_TARGETNAME.sysctrl cortex_m -dap $_CHIPNAME.dap -ap-num 7 -defer-examine
+cti create $_CTINAME.sysctrl -dap $_CHIPNAME.dap \
+	-ap-num $_sysctrl_ap_num -baseaddr [lindex $CM3_CTIBASE 0]
+
+target create $_TARGETNAME.sysctrl cortex_m -dap $_CHIPNAME.dap \
+	-ap-num $_sysctrl_ap_num -defer-examine \
+	-rtos [_get_rtos_type_for_cpu $_TARGETNAME.sysctrl]
+
 $_TARGETNAME.sysctrl configure -event reset-assert { }
 
 proc sysctrl_up {} {
@@ -303,8 +368,9 @@ for { set _core 0 } { $_core < $_armv8_cores } { incr _core } {
 	cti create $_CTINAME.$_armv8_cpu_name.$_core -dap $_CHIPNAME.dap -ap-num 1 \
 		-baseaddr [lindex $ARMV8_CTIBASE $_core]
 
-	target create $_TARGETNAME.$_armv8_cpu_name.$_core aarch64 -dap $_CHIPNAME.dap \
-		-dbgbase [lindex $ARMV8_DBGBASE $_core] -cti $_CTINAME.$_armv8_cpu_name.$_core -defer-examine
+	target create $_TARGETNAME.$_armv8_cpu_name.$_core aarch64 -dap $_CHIPNAME.dap -coreid $_core \
+		-dbgbase [lindex $ARMV8_DBGBASE $_core] -cti $_CTINAME.$_armv8_cpu_name.$_core -defer-examine \
+		-rtos [_get_rtos_type_for_cpu $_TARGETNAME.$_armv8_cpu_name.$_core]
 
 	set _v8_smp_targets "$_v8_smp_targets $_TARGETNAME.$_armv8_cpu_name.$_core"
 
@@ -323,34 +389,37 @@ for { set _core 0 } { $_core < $_armv8_cores } { incr _core } {
 	}
 }
 
-# Setup ARMV8 proc commands based on CPU to prevent people confusing SoCs
-set _armv8_up_cmd "$_armv8_cpu_name"_up
-# Available if V8_SMP_DEBUG is set to non-zero value
-set _armv8_smp_cmd "$_armv8_cpu_name"_smp
+if { $_armv8_cores > 0 } {
+	# Setup ARMV8 proc commands based on CPU to prevent people confusing SoCs
+	set _armv8_up_cmd "$_armv8_cpu_name"_up
+	# Available if V8_SMP_DEBUG is set to non-zero value
+	set _armv8_smp_cmd "$_armv8_cpu_name"_smp
 
-if { $_v8_smp_debug == 0 } {
-	proc $_armv8_up_cmd { args } {
-		foreach _core $args {
-			targets $_core
-			_cpu_no_smp_up
+	if { $_v8_smp_debug == 0 } {
+		proc $_armv8_up_cmd { args } {
+			foreach _core $args {
+				targets $_core
+				_cpu_no_smp_up
+			}
 		}
+	} else {
+		proc $_armv8_smp_cmd { args } {
+			_armv8_smp_up
+		}
+		# Declare SMP
+		target smp {*}$_v8_smp_targets
 	}
-} else {
-	proc $_armv8_smp_cmd { args } {
-		_armv8_smp_up
-	}
-	# Declare SMP
-	target smp $:::_v8_smp_targets
 }
 
 for { set _core 0 } { $_core < $_r5_cores } { incr _core } {
 	set _r5_name [lindex $R5_NAMES $_core]
-	cti create $_CTINAME.$_r5_name -dap $_CHIPNAME.dap -ap-num 1 \
+	cti create $_CTINAME.$_r5_name -dap $_CHIPNAME.dap -ap-num $_r5_ap_num \
 		-baseaddr [lindex $R5_CTIBASE $_core]
 
 	# inactive core examination will fail - wait till startup of additional core
 	target create $_TARGETNAME.$_r5_name cortex_r4 -dap $_CHIPNAME.dap \
-		-dbgbase [lindex $R5_DBGBASE $_core] -ap-num 1 -defer-examine
+		-dbgbase [lindex $R5_DBGBASE $_core] -ap-num $_r5_ap_num -defer-examine \
+		-rtos [_get_rtos_type_for_cpu $_TARGETNAME.$_r5_name]
 
 	$_TARGETNAME.$_r5_name configure -event gdb-attach {
 		_cpu_no_smp_up
@@ -368,7 +437,8 @@ proc r5_up { args } {
 
 if { $_gp_mcu_cores != 0 } {
 	cti create $_CTINAME.gp_mcu -dap $_CHIPNAME.dap -ap-num 8 -baseaddr [lindex $CM4_CTIBASE 0]
-	target create $_TARGETNAME.gp_mcu cortex_m -dap $_CHIPNAME.dap -ap-num 8 -defer-examine
+	target create $_TARGETNAME.gp_mcu cortex_m -dap $_CHIPNAME.dap -ap-num 8 -defer-examine \
+		-rtos [_get_rtos_type_for_cpu $_TARGETNAME.gp_mcu]
 	$_TARGETNAME.gp_mcu configure -event reset-assert { }
 
 	proc gp_mcu_up {} {
@@ -404,4 +474,7 @@ if { 0 == [string compare [adapter name] dmem ] } {
 	} else {
 		puts "ERROR: ${SOC} data is missing to support dmem access!"
 	}
+} else {
+	# AXI AP access port for SoC address map
+	target create $_CHIPNAME.axi_ap mem_ap -dap $_CHIPNAME.dap -ap-num $_mem_ap_num
 }
diff --git a/tools/scripts/camelcase.txt b/tools/scripts/camelcase.txt
index 2caa81c..b787902 100644
--- a/tools/scripts/camelcase.txt
+++ b/tools/scripts/camelcase.txt
@@ -77,6 +77,7 @@ bNumInterfaces
 idProduct
 idVendor
 iInterface
+iManufacturer
 iProduct
 iSerialNumber
 wMaxPacketSize