target: restructure dap support

- add 'dap create' command to create dap instances
- move all dap subcmmand into the dap instance commands
- keep 'dap info' for convenience
- change all armv7 and armv8 targets to take a dap
  instance instead of a jtag chain position
- restructure tap/dap/target relations, jtag tap no
  longer references the dap, daps are now independently
  created and initialized.
- clean up swd connect
- re-initialize DAP also on JTAG errors (e.g. after reset,
  power cycle)
- update documentation
- update target files

Change-Id: I322cf3969b5407c25d1d3962f9d9b9bc1df067d9
Signed-off-by: Matthias Welwarsky <matthias.welwarsky@sysgo.com>
Reviewed-on: http://openocd.zylin.com/4468
Tested-by: jenkins
Reviewed-by: Matthias Welwarsky <matthias@welwarsky.de>

16 files changed, 713 insertions, 277 deletions

diff --git a/src/target/Makefile.am b/src/target/Makefile.am
index d2aab0a..206b281 100644
--- a/src/target/Makefile.am
+++ b/src/target/Makefile.am
@@ -88,6 +88,7 @@ ARM_DEBUG_SRC = \
 	%D%/arm_simulator.c \
 	%D%/arm_semihosting.c \
 	%D%/arm_adi_v5.c \
+	%D%/arm_dap.c \
 	%D%/armv7a_cache.c \
 	%D%/armv7a_cache_l2x.c \
 	%D%/adi_v5_jtag.c \
diff --git a/src/target/aarch64.c b/src/target/aarch64.c
index e9c822d..4641a3f 100644
--- a/src/target/aarch64.c
+++ b/src/target/aarch64.c
@@ -41,6 +41,7 @@ enum halt_mode {
 };
 
 struct aarch64_private_config {
+	struct adiv5_private_config adiv5_config;
 	struct arm_cti *cti;
 };
 
@@ -2210,10 +2211,6 @@ static int aarch64_examine_first(struct target *target)
 	uint32_t tmp0, tmp1, tmp2, tmp3;
 	debug = ttypr = cpuid = 0;
 
-	retval = dap_dp_init(swjdp);
-	if (retval != ERROR_OK)
-		return retval;
-
 	/* Search for the APB-AB - it is needed for access to debug registers */
 	retval = dap_find_ap(swjdp, AP_TYPE_APB_AP, &armv8->debug_ap);
 	if (retval != ERROR_OK) {
@@ -2358,18 +2355,13 @@ static int aarch64_init_target(struct command_context *cmd_ctx,
 }
 
 static int aarch64_init_arch_info(struct target *target,
-	struct aarch64_common *aarch64, struct jtag_tap *tap)
+	struct aarch64_common *aarch64, struct adiv5_dap *dap)
 {
 	struct armv8_common *armv8 = &aarch64->armv8_common;
 
 	/* Setup struct aarch64_common */
 	aarch64->common_magic = AARCH64_COMMON_MAGIC;
-	/*  tap has no dap initialized */
-	if (!tap->dap) {
-		tap->dap = dap_init();
-		tap->dap->tap = tap;
-	}
-	armv8->arm.dap = tap->dap;
+	armv8->arm.dap = dap;
 
 	/* register arch-specific functions */
 	armv8->examine_debug_reason = NULL;
@@ -2385,9 +2377,13 @@ static int aarch64_init_arch_info(struct target *target,
 
 static int aarch64_target_create(struct target *target, Jim_Interp *interp)
 {
+	struct aarch64_private_config *pc = target->private_config;
 	struct aarch64_common *aarch64 = calloc(1, sizeof(struct aarch64_common));
 
-	return aarch64_init_arch_info(target, aarch64, target->tap);
+	if (adiv5_verify_config(&pc->adiv5_config) != ERROR_OK)
+		return ERROR_FAIL;
+
+	return aarch64_init_arch_info(target, aarch64, pc->adiv5_config.dap);
 }
 
 static int aarch64_mmu(struct target *target, int *enabled)
@@ -2407,58 +2403,89 @@ static int aarch64_virt2phys(struct target *target, target_addr_t virt,
 	return armv8_mmu_translate_va_pa(target, virt, phys, 1);
 }
 
+/*
+ * private target configuration items
+ */
+enum aarch64_cfg_param {
+	CFG_CTI,
+};
+
+static const Jim_Nvp nvp_config_opts[] = {
+	{ .name = "-cti", .value = CFG_CTI },
+	{ .name = NULL, .value = -1 }
+};
+
 static int aarch64_jim_configure(struct target *target, Jim_GetOptInfo *goi)
 {
 	struct aarch64_private_config *pc;
-	const char *arg;
+	Jim_Nvp *n;
 	int e;
 
-	/* check if argv[0] is for us */
-	arg = Jim_GetString(goi->argv[0], NULL);
-	if (strcmp(arg, "-cti"))
-		return JIM_CONTINUE;
+	pc = (struct aarch64_private_config *)target->private_config;
+	if (pc == NULL) {
+			pc = calloc(1, sizeof(struct aarch64_private_config));
+			target->private_config = pc;
+	}
 
-	/* pop the argument from argv */
-	e = Jim_GetOpt_String(goi, &arg, NULL);
-	if (e != JIM_OK)
+	/*
+	 * Call adiv5_jim_configure() to parse the common DAP options
+	 * It will return JIM_CONTINUE if it didn't find any known
+	 * options, JIM_OK if it correctly parsed the topmost option
+	 * and JIM_ERR if an error occured during parameter evaluation.
+	 * For JIM_CONTINUE, we check our own params.
+	 */
+	e = adiv5_jim_configure(target, goi);
+	if (e != JIM_CONTINUE)
 		return e;
 
-	/* check if we have another option */
-	if (goi->argc == 0) {
-		Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-cti ?cti-name?");
-		return JIM_ERR;
-	}
+	/* parse config or cget options ... */
+	if (goi->argc > 0) {
+		Jim_SetEmptyResult(goi->interp);
 
-	pc = (struct aarch64_private_config *)target->private_config;
+		/* check first if topmost item is for us */
+		e = Jim_Nvp_name2value_obj(goi->interp, nvp_config_opts,
+				goi->argv[0], &n);
+		if (e != JIM_OK)
+			return JIM_CONTINUE;
 
-	if (goi->isconfigure) {
-		Jim_Obj *o_cti;
-		struct arm_cti *cti;
-		e = Jim_GetOpt_Obj(goi, &o_cti);
+		e = Jim_GetOpt_Obj(goi, NULL);
 		if (e != JIM_OK)
 			return e;
-		cti = cti_instance_by_jim_obj(goi->interp, o_cti);
-		if (cti == NULL)
-			return JIM_ERR;
 
-		if (pc == NULL) {
-			pc = calloc(1, sizeof(struct aarch64_private_config));
-			target->private_config = pc;
-		}
-		pc->cti = cti;
-	} else {
-		if (goi->argc != 0) {
-			Jim_WrongNumArgs(goi->interp,
-					goi->argc, goi->argv,
-					"NO PARAMS");
-			return JIM_ERR;
+		switch (n->value) {
+		case CFG_CTI: {
+			if (goi->isconfigure) {
+				Jim_Obj *o_cti;
+				struct arm_cti *cti;
+				e = Jim_GetOpt_Obj(goi, &o_cti);
+				if (e != JIM_OK)
+					return e;
+				cti = cti_instance_by_jim_obj(goi->interp, o_cti);
+				if (cti == NULL) {
+					Jim_SetResultString(goi->interp, "CTI name invalid!", -1);
+					return JIM_ERR;
+				}
+				pc->cti = cti;
+			} else {
+				if (goi->argc != 0) {
+					Jim_WrongNumArgs(goi->interp,
+							goi->argc, goi->argv,
+							"NO PARAMS");
+					return JIM_ERR;
+				}
+
+				if (pc == NULL || pc->cti == NULL) {
+					Jim_SetResultString(goi->interp, "CTI not configured", -1);
+					return JIM_ERR;
+				}
+				Jim_SetResultString(goi->interp, arm_cti_name(pc->cti), -1);
+			}
+			break;
 		}
 
-		if (pc == NULL || pc->cti == NULL) {
-			Jim_SetResultString(goi->interp, "CTI not configured", -1);
-			return JIM_ERR;
+		default:
+			return JIM_CONTINUE;
 		}
-		Jim_SetResultString(goi->interp, arm_cti_name(pc->cti), -1);
 	}
 
 	return JIM_OK;
diff --git a/src/target/adi_v5_jtag.c b/src/target/adi_v5_jtag.c
index c7dc4f7..dc02379 100644
--- a/src/target/adi_v5_jtag.c
+++ b/src/target/adi_v5_jtag.c
@@ -574,6 +574,7 @@ static int jtagdp_transaction_endcheck(struct adiv5_dap *dap)
 		if ((ctrlstat & (CDBGPWRUPREQ | CDBGPWRUPACK | CSYSPWRUPREQ | CSYSPWRUPACK)) !=
 						(CDBGPWRUPREQ | CDBGPWRUPACK | CSYSPWRUPREQ | CSYSPWRUPACK)) {
 			LOG_ERROR("Debug regions are unpowered, an unexpected reset might have happened");
+			dap->do_reconnect = true;
 		}
 
 		if (ctrlstat & SSTICKYERR)
@@ -598,6 +599,20 @@ static int jtagdp_transaction_endcheck(struct adiv5_dap *dap)
 
 /*--------------------------------------------------------------------------*/
 
+static int jtag_connect(struct adiv5_dap *dap)
+{
+	dap->do_reconnect = false;
+	return dap_dp_init(dap);
+}
+
+static int jtag_check_reconnect(struct adiv5_dap *dap)
+{
+	if (dap->do_reconnect)
+		return jtag_connect(dap);
+
+	return ERROR_OK;
+}
+
 static int jtag_dp_q_read(struct adiv5_dap *dap, unsigned reg,
 		uint32_t *data)
 {
@@ -633,7 +648,11 @@ static int jtag_ap_q_bankselect(struct adiv5_ap *ap, unsigned reg)
 static int jtag_ap_q_read(struct adiv5_ap *ap, unsigned reg,
 		uint32_t *data)
 {
-	int retval = jtag_ap_q_bankselect(ap, reg);
+	int retval = jtag_check_reconnect(ap->dap);
+	if (retval != ERROR_OK)
+		return retval;
+
+	retval = jtag_ap_q_bankselect(ap, reg);
 	if (retval != ERROR_OK)
 		return retval;
 
@@ -647,7 +666,11 @@ static int jtag_ap_q_read(struct adiv5_ap *ap, unsigned reg,
 static int jtag_ap_q_write(struct adiv5_ap *ap, unsigned reg,
 		uint32_t data)
 {
-	int retval = jtag_ap_q_bankselect(ap, reg);
+	int retval = jtag_check_reconnect(ap->dap);
+	if (retval != ERROR_OK)
+		return retval;
+
+	retval = jtag_ap_q_bankselect(ap, reg);
 	if (retval != ERROR_OK)
 		return retval;
 
@@ -692,6 +715,7 @@ static int jtag_dp_sync(struct adiv5_dap *dap)
  * part of DAP setup
 */
 const struct dap_ops jtag_dp_ops = {
+	.connect             = jtag_connect,
 	.queue_dp_read       = jtag_dp_q_read,
 	.queue_dp_write      = jtag_dp_q_write,
 	.queue_ap_read       = jtag_ap_q_read,
diff --git a/src/target/adi_v5_swd.c b/src/target/adi_v5_swd.c
index c503f09..0de272d 100644
--- a/src/target/adi_v5_swd.c
+++ b/src/target/adi_v5_swd.c
@@ -53,13 +53,11 @@
 
 #include <jtag/swd.h>
 
-/* YUK! - but this is currently a global.... */
-extern struct jtag_interface *jtag_interface;
 static bool do_sync;
 
 static void swd_finish_read(struct adiv5_dap *dap)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
 	if (dap->last_read != NULL) {
 		swd->read_reg(swd_cmd(true, false, DP_RDBUFF), dap->last_read, 0);
 		dap->last_read = NULL;
@@ -73,7 +71,7 @@ static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
 
 static void swd_clear_sticky_errors(struct adiv5_dap *dap)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
 	assert(swd);
 
 	swd->write_reg(swd_cmd(false,  false, DP_ABORT),
@@ -82,7 +80,7 @@ static void swd_clear_sticky_errors(struct adiv5_dap *dap)
 
 static int swd_run_inner(struct adiv5_dap *dap)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
 	int retval;
 
 	retval = swd->run();
@@ -97,6 +95,7 @@ static int swd_run_inner(struct adiv5_dap *dap)
 
 static int swd_connect(struct adiv5_dap *dap)
 {
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
 	uint32_t dpidr;
 	int status;
 
@@ -120,7 +119,7 @@ static int swd_connect(struct adiv5_dap *dap)
 	}
 
 	/* Note, debugport_init() does setup too */
-	jtag_interface->swd->switch_seq(JTAG_TO_SWD);
+	swd->switch_seq(JTAG_TO_SWD);
 
 	/* Clear link state, including the SELECT cache. */
 	dap->do_reconnect = false;
@@ -136,6 +135,7 @@ static int swd_connect(struct adiv5_dap *dap)
 	if (status == ERROR_OK) {
 		LOG_INFO("SWD DPIDR %#8.8" PRIx32, dpidr);
 		dap->do_reconnect = false;
+		status = dap_dp_init(dap);
 	} else
 		dap->do_reconnect = true;
 
@@ -157,7 +157,7 @@ static int swd_check_reconnect(struct adiv5_dap *dap)
 
 static int swd_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
 	assert(swd);
 
 	swd->write_reg(swd_cmd(false,  false, DP_ABORT),
@@ -187,7 +187,7 @@ static void swd_queue_dp_bankselect(struct adiv5_dap *dap, unsigned reg)
 static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
 		uint32_t *data)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
 	assert(swd);
 
 	int retval = swd_check_reconnect(dap);
@@ -203,7 +203,7 @@ static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
 static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
 		uint32_t data)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
 	assert(swd);
 
 	int retval = swd_check_reconnect(dap);
@@ -236,10 +236,9 @@ static void swd_queue_ap_bankselect(struct adiv5_ap *ap, unsigned reg)
 static int swd_queue_ap_read(struct adiv5_ap *ap, unsigned reg,
 		uint32_t *data)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
-	assert(swd);
-
 	struct adiv5_dap *dap = ap->dap;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+	assert(swd);
 
 	int retval = swd_check_reconnect(dap);
 	if (retval != ERROR_OK)
@@ -255,10 +254,9 @@ static int swd_queue_ap_read(struct adiv5_ap *ap, unsigned reg,
 static int swd_queue_ap_write(struct adiv5_ap *ap, unsigned reg,
 		uint32_t data)
 {
-	const struct swd_driver *swd = jtag_interface->swd;
-	assert(swd);
-
 	struct adiv5_dap *dap = ap->dap;
+	const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+	assert(swd);
 
 	int retval = swd_check_reconnect(dap);
 	if (retval != ERROR_OK)
@@ -279,6 +277,7 @@ static int swd_run(struct adiv5_dap *dap)
 }
 
 const struct dap_ops swd_dap_ops = {
+	.connect = swd_connect,
 	.queue_dp_read = swd_queue_dp_read,
 	.queue_dp_write = swd_queue_dp_write,
 	.queue_ap_read = swd_queue_ap_read,
@@ -381,15 +380,15 @@ static const struct command_registration swd_handlers[] = {
 
 static int swd_select(struct command_context *ctx)
 {
+	/* FIXME: only place where global 'jtag_interface' is still needed */
+	extern struct jtag_interface *jtag_interface;
+	const struct swd_driver *swd = jtag_interface->swd;
 	int retval;
 
 	retval = register_commands(ctx, NULL, swd_handlers);
-
 	if (retval != ERROR_OK)
 		return retval;
 
-	const struct swd_driver *swd = jtag_interface->swd;
-
 	 /* be sure driver is in SWD mode; start
 	  * with hardware default TRN (1), it can be changed later
 	  */
@@ -404,33 +403,14 @@ static int swd_select(struct command_context *ctx)
 		return retval;
 	}
 
-	/* force DAP into SWD mode (not JTAG) */
-	/*retval = dap_to_swd(target);*/
-
-	if (ctx->current_target) {
-		/* force DAP into SWD mode (not JTAG) */
-		struct target *target = get_current_target(ctx);
-		retval = dap_to_swd(target);
-	}
-
 	return retval;
 }
 
 static int swd_init(struct command_context *ctx)
 {
-	struct target *target = get_current_target(ctx);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-	/* Force the DAP's ops vector for SWD mode.
-	 * messy - is there a better way? */
-	arm->dap->ops = &swd_dap_ops;
-	/* First connect after init is not reconnecting. */
-	dap->do_reconnect = false;
-
-	int retval = swd_connect(dap);
-	if (retval != ERROR_OK)
-		LOG_ERROR("SWD connect failed");
-	return retval;
+	/* nothing done here, SWD is initialized
+	 * together with the DAP */
+	return ERROR_OK;
 }
 
 static struct transport swd_transport = {
diff --git a/src/target/arm_adi_v5.c b/src/target/arm_adi_v5.c
index dfbc5ad..2b7d7b2 100644
--- a/src/target/arm_adi_v5.c
+++ b/src/target/arm_adi_v5.c
@@ -76,6 +76,7 @@
 #include <helper/jep106.h>
 #include <helper/time_support.h>
 #include <helper/list.h>
+#include <helper/jim-nvp.h>
 
 /* ARM ADI Specification requires at least 10 bits used for TAR autoincrement  */
 
@@ -614,34 +615,9 @@ int mem_ap_write_buf_noincr(struct adiv5_ap *ap,
 
 #define DAP_POWER_DOMAIN_TIMEOUT (10)
 
-/* FIXME don't import ... just initialize as
- * part of DAP transport setup
-*/
-extern const struct dap_ops jtag_dp_ops;
-
 /*--------------------------------------------------------------------------*/
 
 /**
- * Create a new DAP
- */
-struct adiv5_dap *dap_init(void)
-{
-	struct adiv5_dap *dap = calloc(1, sizeof(struct adiv5_dap));
-	int i;
-	/* Set up with safe defaults */
-	for (i = 0; i <= 255; i++) {
-		dap->ap[i].dap = dap;
-		dap->ap[i].ap_num = i;
-		/* memaccess_tck max is 255 */
-		dap->ap[i].memaccess_tck = 255;
-		/* Number of bits for tar autoincrement, impl. dep. at least 10 */
-		dap->ap[i].tar_autoincr_block = (1<<10);
-	}
-	INIT_LIST_HEAD(&dap->cmd_journal);
-	return dap;
-}
-
-/**
  * Invalidate cached DP select and cached TAR and CSW of all APs
  */
 void dap_invalidate_cache(struct adiv5_dap *dap)
@@ -667,14 +643,7 @@ int dap_dp_init(struct adiv5_dap *dap)
 {
 	int retval;
 
-	LOG_DEBUG(" ");
-	/* JTAG-DP or SWJ-DP, in JTAG mode
-	 * ... for SWD mode this is patched as part
-	 * of link switchover
-	 * FIXME: This should already be setup by the respective transport specific DAP creation.
-	 */
-	if (!dap->ops)
-		dap->ops = &jtag_dp_ops;
+	LOG_DEBUG("%s", adiv5_dap_name(dap));
 
 	dap_invalidate_cache(dap);
 
@@ -1376,7 +1345,7 @@ static int dap_rom_display(struct command_context *cmd_ctx,
 	return ERROR_OK;
 }
 
-static int dap_info_command(struct command_context *cmd_ctx,
+int dap_info_command(struct command_context *cmd_ctx,
 		struct adiv5_ap *ap)
 {
 	int retval;
@@ -1434,46 +1403,131 @@ static int dap_info_command(struct command_context *cmd_ctx,
 	return ERROR_OK;
 }
 
+enum adiv5_cfg_param {
+	CFG_DAP,
+	CFG_AP_NUM
+};
+
+static const Jim_Nvp nvp_config_opts[] = {
+	{ .name = "-dap",    .value = CFG_DAP },
+	{ .name = "-ap-num", .value = CFG_AP_NUM },
+	{ .name = NULL, .value = -1 }
+};
+
 int adiv5_jim_configure(struct target *target, Jim_GetOptInfo *goi)
 {
 	struct adiv5_private_config *pc;
-	const char *arg;
-	jim_wide ap_num;
 	int e;
 
-	/* check if argv[0] is for us */
-	arg = Jim_GetString(goi->argv[0], NULL);
-	if (strcmp(arg, "-ap-num"))
-		return JIM_CONTINUE;
+	pc = (struct adiv5_private_config *)target->private_config;
+	if (pc == NULL) {
+		pc = calloc(1, sizeof(struct adiv5_private_config));
+		pc->ap_num = -1;
+		target->private_config = pc;
+	}
 
-	e = Jim_GetOpt_String(goi, &arg, NULL);
-	if (e != JIM_OK)
-		return e;
+	target->has_dap = true;
+
+	if (goi->argc > 0) {
+		Jim_Nvp *n;
+
+		Jim_SetEmptyResult(goi->interp);
+
+		/* check first if topmost item is for us */
+		e = Jim_Nvp_name2value_obj(goi->interp, nvp_config_opts,
+								   goi->argv[0], &n);
+		if (e != JIM_OK)
+			return JIM_CONTINUE;
+
+		e = Jim_GetOpt_Obj(goi, NULL);
+		if (e != JIM_OK)
+			return e;
+
+		switch (n->value) {
+		case CFG_DAP:
+			if (goi->isconfigure) {
+				Jim_Obj *o_t;
+				struct adiv5_dap *dap;
+				e = Jim_GetOpt_Obj(goi, &o_t);
+				if (e != JIM_OK)
+					return e;
+				dap = dap_instance_by_jim_obj(goi->interp, o_t);
+				if (dap == NULL) {
+					Jim_SetResultString(goi->interp, "DAP name invalid!", -1);
+					return JIM_ERR;
+				}
+				if (pc->dap != NULL && pc->dap != dap) {
+					Jim_SetResultString(goi->interp,
+						"DAP assignment cannot be changed after target was created!", -1);
+					return JIM_ERR;
+				}
+				if (target->tap_configured) {
+					Jim_SetResultString(goi->interp,
+						"-chain-position and -dap configparams are mutually exclusive!", -1);
+					return JIM_ERR;
+				}
+				pc->dap = dap;
+				target->tap = dap->tap;
+				target->dap_configured = true;
+			} else {
+				if (goi->argc != 0) {
+					Jim_WrongNumArgs(goi->interp,
+										goi->argc, goi->argv,
+					"NO PARAMS");
+					return JIM_ERR;
+				}
+
+				if (pc->dap == NULL) {
+					Jim_SetResultString(goi->interp, "DAP not configured", -1);
+					return JIM_ERR;
+				}
+				Jim_SetResultString(goi->interp, adiv5_dap_name(pc->dap), -1);
+			}
+			break;
 
-	if (goi->argc == 0) {
-		Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "-ap-num ?ap-number? ...");
-		return JIM_ERR;
+		case CFG_AP_NUM:
+			if (goi->isconfigure) {
+				jim_wide ap_num;
+				e = Jim_GetOpt_Wide(goi, &ap_num);
+				if (e != JIM_OK)
+					return e;
+				pc->ap_num = ap_num;
+			} else {
+				if (goi->argc != 0) {
+					Jim_WrongNumArgs(goi->interp,
+									 goi->argc, goi->argv,
+					  "NO PARAMS");
+					return JIM_ERR;
+				}
+
+				if (pc->ap_num < 0) {
+					Jim_SetResultString(goi->interp, "AP number not configured", -1);
+					return JIM_ERR;
+				}
+				Jim_SetResult(goi->interp, Jim_NewIntObj(goi->interp, (int)pc->ap_num));
+			}
+			break;
+		}
 	}
 
-	e = Jim_GetOpt_Wide(goi, &ap_num);
-	if (e != JIM_OK)
-		return e;
+	return JIM_OK;
+}
 
-	if (target->private_config == NULL) {
-		pc = calloc(1, sizeof(struct adiv5_private_config));
-		target->private_config = pc;
-		pc->ap_num = ap_num;
-	}
+int adiv5_verify_config(struct adiv5_private_config *pc)
+{
+	if (pc == NULL)
+		return ERROR_FAIL;
 
+	if (pc->dap == NULL)
+		return ERROR_FAIL;
 
-	return JIM_OK;
+	return ERROR_OK;
 }
 
+
 COMMAND_HANDLER(handle_dap_info_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
 	uint32_t apsel;
 
 	switch (CMD_ARGC) {
@@ -1494,10 +1548,7 @@ COMMAND_HANDLER(handle_dap_info_command)
 
 COMMAND_HANDLER(dap_baseaddr_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
 	uint32_t apsel, baseaddr;
 	int retval;
 
@@ -1534,10 +1585,7 @@ COMMAND_HANDLER(dap_baseaddr_command)
 
 COMMAND_HANDLER(dap_memaccess_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
 	uint32_t memaccess_tck;
 
 	switch (CMD_ARGC) {
@@ -1560,10 +1608,7 @@ COMMAND_HANDLER(dap_memaccess_command)
 
 COMMAND_HANDLER(dap_apsel_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
 	uint32_t apsel, apid;
 	int retval;
 
@@ -1598,11 +1643,9 @@ COMMAND_HANDLER(dap_apsel_command)
 
 COMMAND_HANDLER(dap_apcsw_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-
-	uint32_t apcsw = dap->ap[dap->apsel].csw_default, sprot = 0;
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
+	uint32_t apcsw = dap->ap[dap->apsel].csw_default;
+	uint32_t sprot = 0;
 
 	switch (CMD_ARGC) {
 	case 0:
@@ -1631,10 +1674,7 @@ COMMAND_HANDLER(dap_apcsw_command)
 
 COMMAND_HANDLER(dap_apid_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
 	uint32_t apsel, apid;
 	int retval;
 
@@ -1666,10 +1706,7 @@ COMMAND_HANDLER(dap_apid_command)
 
 COMMAND_HANDLER(dap_apreg_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
 	uint32_t apsel, reg, value;
 	int retval;
 
@@ -1705,10 +1742,7 @@ COMMAND_HANDLER(dap_apreg_command)
 
 COMMAND_HANDLER(dap_ti_be_32_quirks_command)
 {
-	struct target *target = get_current_target(CMD_CTX);
-	struct arm *arm = target_to_arm(target);
-	struct adiv5_dap *dap = arm->dap;
-
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
 	uint32_t enable = dap->ti_be_32_quirks;
 
 	switch (CMD_ARGC) {
@@ -1729,7 +1763,7 @@ COMMAND_HANDLER(dap_ti_be_32_quirks_command)
 	return 0;
 }
 
-static const struct command_registration dap_commands[] = {
+const struct command_registration dap_instance_commands[] = {
 	{
 		.name = "info",
 		.handler = handle_dap_info_command,
@@ -1795,14 +1829,3 @@ static const struct command_registration dap_commands[] = {
 	},
 	COMMAND_REGISTRATION_DONE
 };
-
-const struct command_registration dap_command_handlers[] = {
-	{
-		.name = "dap",
-		.mode = COMMAND_EXEC,
-		.help = "DAP command group",
-		.usage = "",
-		.chain = dap_commands,
-	},
-	COMMAND_REGISTRATION_DONE
-};
diff --git a/src/target/arm_adi_v5.h b/src/target/arm_adi_v5.h
index 657427b..aa5fa42 100644
--- a/src/target/arm_adi_v5.h
+++ b/src/target/arm_adi_v5.h
@@ -254,6 +254,8 @@ struct adiv5_dap {
  * available until run().
  */
 struct dap_ops {
+	/** connect operation for SWD */
+	int (*connect)(struct adiv5_dap *dap);
 	/** DP register read. */
 	int (*queue_dp_read)(struct adiv5_dap *dap, unsigned reg,
 			uint32_t *data);
@@ -473,9 +475,6 @@ int mem_ap_read_buf_noincr(struct adiv5_ap *ap,
 int mem_ap_write_buf_noincr(struct adiv5_ap *ap,
 		const uint8_t *buffer, uint32_t size, uint32_t count, uint32_t address);
 
-/* Create DAP struct */
-struct adiv5_dap *dap_init(void);
-
 /* Initialisation of the debug system, power domains and registers */
 int dap_dp_init(struct adiv5_dap *dap);
 int mem_ap_init(struct adiv5_ap *ap);
@@ -509,12 +508,24 @@ int dap_to_swd(struct target *target);
 /* Put debug link into JTAG mode */
 int dap_to_jtag(struct target *target);
 
-extern const struct command_registration dap_command_handlers[];
+extern const struct command_registration dap_instance_commands[];
+
+struct arm_dap_object;
+extern struct adiv5_dap *dap_instance_by_jim_obj(Jim_Interp *interp, Jim_Obj *o);
+extern struct adiv5_dap *adiv5_get_dap(struct arm_dap_object *obj);
+extern int dap_info_command(struct command_context *cmd_ctx,
+					 struct adiv5_ap *ap);
+extern int dap_register_commands(struct command_context *cmd_ctx);
+extern const char *adiv5_dap_name(struct adiv5_dap *self);
+extern const struct swd_driver *adiv5_dap_swd_driver(struct adiv5_dap *self);
+extern int dap_cleanup_all(void);
 
 struct adiv5_private_config {
 	int ap_num;
+	struct adiv5_dap *dap;
 };
 
+extern int adiv5_verify_config(struct adiv5_private_config *pc);
 extern int adiv5_jim_configure(struct target *target, Jim_GetOptInfo *goi);
 
 #endif /* OPENOCD_TARGET_ARM_ADI_V5_H */
diff --git a/src/target/arm_cti.c b/src/target/arm_cti.c
index 6834a34..547b961 100644
--- a/src/target/arm_cti.c
+++ b/src/target/arm_cti.c
@@ -365,22 +365,21 @@ static const struct command_registration cti_instance_command_handlers[] = {
 };
 
 enum cti_cfg_param {
-	CFG_CHAIN_POSITION,
+	CFG_DAP,
 	CFG_AP_NUM,
 	CFG_CTIBASE
 };
 
 static const Jim_Nvp nvp_config_opts[] = {
-	{ .name = "-chain-position",   .value = CFG_CHAIN_POSITION },
-	{ .name = "-ctibase",          .value = CFG_CTIBASE },
-	{ .name = "-ap-num",           .value = CFG_AP_NUM },
+	{ .name = "-dap",     .value = CFG_DAP },
+	{ .name = "-ctibase", .value = CFG_CTIBASE },
+	{ .name = "-ap-num",  .value = CFG_AP_NUM },
 	{ .name = NULL, .value = -1 }
 };
 
 static int cti_configure(Jim_GetOptInfo *goi, struct arm_cti_object *cti)
 {
-	struct jtag_tap *tap = NULL;
-	struct adiv5_dap *dap;
+	struct adiv5_dap *dap = NULL;
 	Jim_Nvp *n;
 	jim_wide w;
 	int e;
@@ -395,14 +394,14 @@ static int cti_configure(Jim_GetOptInfo *goi, struct arm_cti_object *cti)
 			return e;
 		}
 		switch (n->value) {
-		case CFG_CHAIN_POSITION: {
+		case CFG_DAP: {
 			Jim_Obj *o_t;
 			e = Jim_GetOpt_Obj(goi, &o_t);
 			if (e != JIM_OK)
 				return e;
-			tap = jtag_tap_by_jim_obj(goi->interp, o_t);
-			if (tap == NULL) {
-				Jim_SetResultString(goi->interp, "-chain-position is invalid", -1);
+			dap = dap_instance_by_jim_obj(goi->interp, o_t);
+			if (dap == NULL) {
+				Jim_SetResultString(goi->interp, "-dap is invalid", -1);
 				return JIM_ERR;
 			}
 			/* loop for more */
@@ -424,18 +423,11 @@ static int cti_configure(Jim_GetOptInfo *goi, struct arm_cti_object *cti)
 		}
 	}
 
-	if (tap == NULL) {
-		Jim_SetResultString(goi->interp, "-chain-position required when creating CTI", -1);
+	if (dap == NULL) {
+		Jim_SetResultString(goi->interp, "-dap required when creating CTI", -1);
 		return JIM_ERR;
 	}
 
-	if (tap->dap == NULL) {
-		dap = dap_init();
-		dap->tap = tap;
-		tap->dap = dap;
-	} else
-		dap = tap->dap;
-
 	cti->cti.ap = dap_ap(dap, cti->ap_num);
 
 	return JIM_OK;
diff --git a/src/target/arm_dap.c b/src/target/arm_dap.c
new file mode 100644
index 0000000..692feb3
--- /dev/null
+++ b/src/target/arm_dap.c
@@ -0,0 +1,366 @@
+/***************************************************************************
+ *   Copyright (C) 2016 by Matthias Welwarsky                              *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *                                                                         *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <stdlib.h>
+#include <stdint.h>
+#include "target/arm_adi_v5.h"
+#include "target/arm.h"
+#include "helper/list.h"
+#include "helper/command.h"
+#include "transport/transport.h"
+#include "jtag/interface.h"
+
+static LIST_HEAD(all_dap);
+
+extern const struct dap_ops swd_dap_ops;
+extern const struct dap_ops jtag_dp_ops;
+extern struct jtag_interface *jtag_interface;
+
+/* DAP command support */
+struct arm_dap_object {
+	struct list_head lh;
+	struct adiv5_dap dap;
+	char *name;
+	const struct swd_driver *swd;
+};
+
+static void dap_instance_init(struct adiv5_dap *dap)
+{
+	int i;
+	/* Set up with safe defaults */
+	for (i = 0; i <= 255; i++) {
+		dap->ap[i].dap = dap;
+		dap->ap[i].ap_num = i;
+		/* memaccess_tck max is 255 */
+		dap->ap[i].memaccess_tck = 255;
+		/* Number of bits for tar autoincrement, impl. dep. at least 10 */
+		dap->ap[i].tar_autoincr_block = (1<<10);
+	}
+	INIT_LIST_HEAD(&dap->cmd_journal);
+}
+
+const char *adiv5_dap_name(struct adiv5_dap *self)
+{
+	struct arm_dap_object *obj = container_of(self, struct arm_dap_object, dap);
+	return obj->name;
+}
+
+const struct swd_driver *adiv5_dap_swd_driver(struct adiv5_dap *self)
+{
+	struct arm_dap_object *obj = container_of(self, struct arm_dap_object, dap);
+	return obj->swd;
+}
+
+struct adiv5_dap *adiv5_get_dap(struct arm_dap_object *obj)
+{
+	return &obj->dap;
+}
+struct adiv5_dap *dap_instance_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
+{
+	struct arm_dap_object *obj = NULL;
+	const char *name;
+	bool found = false;
+
+	name = Jim_GetString(o, NULL);
+
+	list_for_each_entry(obj, &all_dap, lh) {
+		if (!strcmp(name, obj->name)) {
+			found = true;
+			break;
+		}
+	}
+
+	if (found)
+		return &obj->dap;
+	return NULL;
+}
+
+static int dap_init_all(void)
+{
+	struct arm_dap_object *obj;
+	int retval;
+
+	LOG_DEBUG("Initializing all DAPs ...");
+
+	list_for_each_entry(obj, &all_dap, lh) {
+		struct adiv5_dap *dap = &obj->dap;
+
+		/* with hla, dap is just a dummy */
+		if (transport_is_hla())
+			continue;
+
+		/* skip taps that are disabled */
+		if (!dap->tap->enabled)
+			continue;
+
+		if (transport_is_swd()) {
+			dap->ops = &swd_dap_ops;
+			obj->swd = jtag_interface->swd;
+		} else
+			dap->ops = &jtag_dp_ops;
+
+		retval = dap->ops->connect(dap);
+		if (retval != ERROR_OK)
+			return retval;
+	}
+
+	return ERROR_OK;
+}
+
+int dap_cleanup_all(void)
+{
+	struct arm_dap_object *obj, *tmp;
+
+	list_for_each_entry_safe(obj, tmp, &all_dap, lh) {
+		free(obj->name);
+		free(obj);
+	}
+
+	return ERROR_OK;
+}
+
+enum dap_cfg_param {
+	CFG_CHAIN_POSITION,
+};
+
+static const Jim_Nvp nvp_config_opts[] = {
+	{ .name = "-chain-position",   .value = CFG_CHAIN_POSITION },
+	{ .name = NULL, .value = -1 }
+};
+
+static int dap_configure(Jim_GetOptInfo *goi, struct arm_dap_object *dap)
+{
+	struct jtag_tap *tap = NULL;
+	Jim_Nvp *n;
+	int e;
+
+	/* parse config or cget options ... */
+	while (goi->argc > 0) {
+		Jim_SetEmptyResult(goi->interp);
+
+		e = Jim_GetOpt_Nvp(goi, nvp_config_opts, &n);
+		if (e != JIM_OK) {
+			Jim_GetOpt_NvpUnknown(goi, nvp_config_opts, 0);
+			return e;
+		}
+		switch (n->value) {
+		case CFG_CHAIN_POSITION: {
+			Jim_Obj *o_t;
+			e = Jim_GetOpt_Obj(goi, &o_t);
+			if (e != JIM_OK)
+				return e;
+			tap = jtag_tap_by_jim_obj(goi->interp, o_t);
+			if (tap == NULL) {
+				Jim_SetResultString(goi->interp, "-chain-position is invalid", -1);
+				return JIM_ERR;
+			}
+			/* loop for more */
+			break;
+		}
+		default:
+			break;
+		}
+	}
+
+	if (tap == NULL) {
+		Jim_SetResultString(goi->interp, "-chain-position required when creating DAP", -1);
+		return JIM_ERR;
+	}
+
+	dap_instance_init(&dap->dap);
+	dap->dap.tap = tap;
+
+	return JIM_OK;
+}
+
+static int dap_create(Jim_GetOptInfo *goi)
+{
+	struct command_context *cmd_ctx;
+	static struct arm_dap_object *dap;
+	Jim_Obj *new_cmd;
+	Jim_Cmd *cmd;
+	const char *cp;
+	int e;
+
+	cmd_ctx = current_command_context(goi->interp);
+	assert(cmd_ctx != NULL);
+
+	if (goi->argc < 3) {
+		Jim_WrongNumArgs(goi->interp, 1, goi->argv, "?name? ..options...");
+		return JIM_ERR;
+	}
+	/* COMMAND */
+	Jim_GetOpt_Obj(goi, &new_cmd);
+	/* does this command exist? */
+	cmd = Jim_GetCommand(goi->interp, new_cmd, JIM_ERRMSG);
+	if (cmd) {
+		cp = Jim_GetString(new_cmd, NULL);
+		Jim_SetResultFormatted(goi->interp, "Command: %s Exists", cp);
+		return JIM_ERR;
+	}
+
+	/* Create it */
+	dap = calloc(1, sizeof(struct arm_dap_object));
+	if (dap == NULL)
+		return JIM_ERR;
+
+	e = dap_configure(goi, dap);
+	if (e != JIM_OK) {
+		free(dap);
+		return e;
+	}
+
+	cp = Jim_GetString(new_cmd, NULL);
+	dap->name = strdup(cp);
+
+	struct command_registration dap_commands[] = {
+		{
+			.name = cp,
+			.mode = COMMAND_ANY,
+			.help = "dap instance command group",
+			.usage = "",
+			.chain = dap_instance_commands,
+		},
+		COMMAND_REGISTRATION_DONE
+	};
+
+	/* don't expose the instance commands when using hla */
+	if (transport_is_hla())
+		dap_commands[0].chain = NULL;
+
+	e = register_commands(cmd_ctx, NULL, dap_commands);
+	if (ERROR_OK != e)
+		return JIM_ERR;
+
+	struct command *c = command_find_in_context(cmd_ctx, cp);
+	assert(c);
+	command_set_handler_data(c, dap);
+
+	list_add_tail(&dap->lh, &all_dap);
+
+	return (ERROR_OK == e) ? JIM_OK : JIM_ERR;
+}
+
+static int jim_dap_create(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+	Jim_GetOptInfo goi;
+	Jim_GetOpt_Setup(&goi, interp, argc - 1, argv + 1);
+	if (goi.argc < 2) {
+		Jim_WrongNumArgs(goi.interp, goi.argc, goi.argv,
+			"<name> [<dap_options> ...]");
+		return JIM_ERR;
+	}
+	return dap_create(&goi);
+}
+
+static int jim_dap_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
+{
+	struct arm_dap_object *obj;
+
+	if (argc != 1) {
+		Jim_WrongNumArgs(interp, 1, argv, "Too many parameters");
+		return JIM_ERR;
+	}
+	Jim_SetResult(interp, Jim_NewListObj(interp, NULL, 0));
+	list_for_each_entry(obj, &all_dap, lh) {
+		Jim_ListAppendElement(interp, Jim_GetResult(interp),
+			Jim_NewStringObj(interp, obj->name, -1));
+	}
+	return JIM_OK;
+}
+
+COMMAND_HANDLER(handle_dap_init)
+{
+	return dap_init_all();
+}
+
+COMMAND_HANDLER(handle_dap_info_command)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	struct arm *arm = target_to_arm(target);
+	struct adiv5_dap *dap = arm->dap;
+	uint32_t apsel;
+
+	switch (CMD_ARGC) {
+		case 0:
+			apsel = dap->apsel;
+			break;
+		case 1:
+			COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
+			if (apsel >= 256)
+				return ERROR_COMMAND_SYNTAX_ERROR;
+			break;
+		default:
+			return ERROR_COMMAND_SYNTAX_ERROR;
+	}
+
+	return dap_info_command(CMD_CTX, &dap->ap[apsel]);
+}
+
+static const struct command_registration dap_subcommand_handlers[] = {
+	{
+		.name = "create",
+		.mode = COMMAND_ANY,
+		.jim_handler = jim_dap_create,
+		.usage = "name '-chain-position' name",
+		.help = "Creates a new DAP instance",
+	},
+	{
+		.name = "names",
+		.mode = COMMAND_ANY,
+		.jim_handler = jim_dap_names,
+		.usage = "",
+		.help = "Lists all registered DAP instances by name",
+	},
+	{
+		.name = "init",
+		.mode = COMMAND_ANY,
+		.handler = handle_dap_init,
+		.usage = "",
+		.help = "Initialize all registered DAP instances"
+	},
+	{
+		.name = "info",
+		.handler = handle_dap_info_command,
+		.mode = COMMAND_EXEC,
+		.help = "display ROM table for MEM-AP of current target "
+		"(default currently selected AP)",
+		.usage = "[ap_num]",
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
+static const struct command_registration dap_commands[] = {
+	{
+		.name = "dap",
+		.mode = COMMAND_CONFIG,
+		.help = "DAP commands",
+		.chain = dap_subcommand_handlers,
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
+int dap_register_commands(struct command_context *cmd_ctx)
+{
+	return register_commands(cmd_ctx, NULL, dap_commands);
+}
diff --git a/src/target/armv7a.c b/src/target/armv7a.c
index 183fde1..fab7363 100644
--- a/src/target/armv7a.c
+++ b/src/target/armv7a.c
@@ -777,9 +777,6 @@ const struct command_registration l2x_cache_command_handlers[] = {
 
 const struct command_registration armv7a_command_handlers[] = {
 	{
-		.chain = dap_command_handlers,
-	},
-	{
 		.chain = l2x_cache_command_handlers,
 	},
 	{
diff --git a/src/target/armv7m.c b/src/target/armv7m.c
index e0911c3..a8ddfe8 100644
--- a/src/target/armv7m.c
+++ b/src/target/armv7m.c
@@ -843,8 +843,5 @@ const struct command_registration armv7m_command_handlers[] = {
 	{
 		.chain = arm_command_handlers,
 	},
-	{
-		.chain = dap_command_handlers,
-	},
 	COMMAND_REGISTRATION_DONE
 };
diff --git a/src/target/armv8.c b/src/target/armv8.c
index b88f37d..3321dd6 100644
--- a/src/target/armv8.c
+++ b/src/target/armv8.c
@@ -1609,13 +1609,9 @@ struct reg *armv8_reg_current(struct arm *arm, unsigned regnum)
 }
 
 const struct command_registration armv8_command_handlers[] = {
-	{
-		.chain = dap_command_handlers,
-	},
 	COMMAND_REGISTRATION_DONE
 };
 
-
 int armv8_get_gdb_reg_list(struct target *target,
 	struct reg **reg_list[], int *reg_list_size,
 	enum target_register_class reg_class)
diff --git a/src/target/cortex_a.c b/src/target/cortex_a.c
index 74f30cb..8985051 100644
--- a/src/target/cortex_a.c
+++ b/src/target/cortex_a.c
@@ -2947,12 +2947,6 @@ static int cortex_a_examine_first(struct target *target)
 	int retval = ERROR_OK;
 	uint32_t didr, cpuid, dbg_osreg;
 
-	retval = dap_dp_init(swjdp);
-	if (retval != ERROR_OK) {
-		LOG_ERROR("Could not initialize the debug port");
-		return retval;
-	}
-
 	/* Search for the APB-AP - it is needed for access to debug registers */
 	retval = dap_find_ap(swjdp, AP_TYPE_APB_AP, &armv7a->debug_ap);
 	if (retval != ERROR_OK) {
@@ -3134,22 +3128,13 @@ static int cortex_a_init_target(struct command_context *cmd_ctx,
 }
 
 static int cortex_a_init_arch_info(struct target *target,
-	struct cortex_a_common *cortex_a, struct jtag_tap *tap)
+	struct cortex_a_common *cortex_a, struct adiv5_dap *dap)
 {
 	struct armv7a_common *armv7a = &cortex_a->armv7a_common;
 
 	/* Setup struct cortex_a_common */
 	cortex_a->common_magic = CORTEX_A_COMMON_MAGIC;
-
-	/*  tap has no dap initialized */
-	if (!tap->dap) {
-		tap->dap = dap_init();
-
-		/* Leave (only) generic DAP stuff for debugport_init() */
-		tap->dap->tap = tap;
-	}
-
-	armv7a->arm.dap = tap->dap;
+	armv7a->arm.dap = dap;
 
 	cortex_a->fast_reg_read = 0;
 
@@ -3175,21 +3160,34 @@ static int cortex_a_init_arch_info(struct target *target,
 static int cortex_a_target_create(struct target *target, Jim_Interp *interp)
 {
 	struct cortex_a_common *cortex_a = calloc(1, sizeof(struct cortex_a_common));
+	cortex_a->common_magic = CORTEX_A_COMMON_MAGIC;
+	struct adiv5_private_config *pc;
+
+	if (target->private_config == NULL)
+		return ERROR_FAIL;
+
+	pc = (struct adiv5_private_config *)target->private_config;
 
 	cortex_a->armv7a_common.is_armv7r = false;
 
 	cortex_a->armv7a_common.arm.arm_vfp_version = ARM_VFP_V3;
 
-	return cortex_a_init_arch_info(target, cortex_a, target->tap);
+	return cortex_a_init_arch_info(target, cortex_a, pc->dap);
 }
 
 static int cortex_r4_target_create(struct target *target, Jim_Interp *interp)
 {
 	struct cortex_a_common *cortex_a = calloc(1, sizeof(struct cortex_a_common));
+	cortex_a->common_magic = CORTEX_A_COMMON_MAGIC;
+	struct adiv5_private_config *pc;
+
+	pc = (struct adiv5_private_config *)target->private_config;
+	if (adiv5_verify_config(pc) != ERROR_OK)
+		return ERROR_FAIL;
 
 	cortex_a->armv7a_common.is_armv7r = true;
 
-	return cortex_a_init_arch_info(target, cortex_a, target->tap);
+	return cortex_a_init_arch_info(target, cortex_a, pc->dap);
 }
 
 static void cortex_a_deinit_target(struct target *target)
@@ -3200,6 +3198,7 @@ static void cortex_a_deinit_target(struct target *target)
 	free(cortex_a->brp_list);
 	free(dpm->dbp);
 	free(dpm->dwp);
+	free(target->private_config);
 	free(cortex_a);
 }
 
@@ -3484,6 +3483,7 @@ struct target_type cortexa_target = {
 
 	.commands = cortex_a_command_handlers,
 	.target_create = cortex_a_target_create,
+	.target_jim_configure = adiv5_jim_configure,
 	.init_target = cortex_a_init_target,
 	.examine = cortex_a_examine,
 	.deinit_target = cortex_a_deinit_target,
@@ -3517,9 +3517,6 @@ static const struct command_registration cortex_r4_command_handlers[] = {
 		.chain = arm_command_handlers,
 	},
 	{
-		.chain = dap_command_handlers,
-	},
-	{
 		.name = "cortex_r4",
 		.mode = COMMAND_ANY,
 		.help = "Cortex-R4 command group",
@@ -3562,6 +3559,7 @@ struct target_type cortexr4_target = {
 
 	.commands = cortex_r4_command_handlers,
 	.target_create = cortex_r4_target_create,
+	.target_jim_configure = adiv5_jim_configure,
 	.init_target = cortex_a_init_target,
 	.examine = cortex_a_examine,
 	.deinit_target = cortex_a_deinit_target,
diff --git a/src/target/cortex_m.c b/src/target/cortex_m.c
index 79af632..14ebba3 100644
--- a/src/target/cortex_m.c
+++ b/src/target/cortex_m.c
@@ -1992,12 +1992,6 @@ int cortex_m_examine(struct target *target)
 	/* stlink shares the examine handler but does not support
 	 * all its calls */
 	if (!armv7m->stlink) {
-		retval = dap_dp_init(swjdp);
-		if (retval != ERROR_OK) {
-			LOG_ERROR("Could not initialize the debug port");
-			return retval;
-		}
-
 		if (cortex_m->apsel < 0) {
 			/* Search for the MEM-AP */
 			retval = dap_find_ap(swjdp, AP_TYPE_AHB_AP, &armv7m->debug_ap);
@@ -2228,25 +2222,17 @@ static int cortex_m_handle_target_request(void *priv)
 }
 
 static int cortex_m_init_arch_info(struct target *target,
-	struct cortex_m_common *cortex_m, struct jtag_tap *tap)
+	struct cortex_m_common *cortex_m, struct adiv5_dap *dap)
 {
 	struct armv7m_common *armv7m = &cortex_m->armv7m;
 
 	armv7m_init_arch_info(target, armv7m);
 
-	/*  tap has no dap initialized */
-	if (!tap->dap) {
-		tap->dap = dap_init();
-
-		/* Leave (only) generic DAP stuff for debugport_init() */
-		tap->dap->tap = tap;
-	}
-
 	/* default reset mode is to use srst if fitted
 	 * if not it will use CORTEX_M3_RESET_VECTRESET */
 	cortex_m->soft_reset_config = CORTEX_M_RESET_VECTRESET;
 
-	armv7m->arm.dap = tap->dap;
+	armv7m->arm.dap = dap;
 
 	/* register arch-specific functions */
 	armv7m->examine_debug_reason = cortex_m_examine_debug_reason;
@@ -2266,16 +2252,16 @@ static int cortex_m_init_arch_info(struct target *target,
 static int cortex_m_target_create(struct target *target, Jim_Interp *interp)
 {
 	struct cortex_m_common *cortex_m = calloc(1, sizeof(struct cortex_m_common));
-
 	cortex_m->common_magic = CORTEX_M_COMMON_MAGIC;
-	cortex_m_init_arch_info(target, cortex_m, target->tap);
-
-	if (target->private_config != NULL) {
-		struct adiv5_private_config *pc =
-				(struct adiv5_private_config *)target->private_config;
-		cortex_m->apsel = pc->ap_num;
-	} else
-		cortex_m->apsel = -1;
+	struct adiv5_private_config *pc;
+
+	pc = (struct adiv5_private_config *)target->private_config;
+	if (adiv5_verify_config(pc) != ERROR_OK)
+		return ERROR_FAIL;
+
+	cortex_m->apsel = pc->ap_num;
+
+	cortex_m_init_arch_info(target, cortex_m, pc->dap);
 
 	return ERROR_OK;
 }
diff --git a/src/target/hla_target.c b/src/target/hla_target.c
index ba88248..9ebf241 100644
--- a/src/target/hla_target.c
+++ b/src/target/hla_target.c
@@ -365,12 +365,16 @@ static int adapter_target_create(struct target *target,
 		Jim_Interp *interp)
 {
 	LOG_DEBUG("%s", __func__);
-
+	struct adiv5_private_config *pc = target->private_config;
 	struct cortex_m_common *cortex_m = calloc(1, sizeof(struct cortex_m_common));
-
 	if (!cortex_m)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
+	if (pc != NULL && pc->ap_num > 0) {
+		LOG_ERROR("hla_target: invalid parameter -ap-num (> 0)");
+		return ERROR_FAIL;
+	}
+
 	adapter_init_arch_info(target, cortex_m, target->tap);
 
 	return ERROR_OK;
@@ -801,6 +805,7 @@ struct target_type hla_target = {
 	.init_target = adapter_init_target,
 	.deinit_target = cortex_m_deinit_target,
 	.target_create = adapter_target_create,
+	.target_jim_configure = adiv5_jim_configure,
 	.examine = cortex_m_examine,
 	.commands = adapter_command_handlers,
 
diff --git a/src/target/target.c b/src/target/target.c
index 9b6348a..4552034 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -4765,6 +4765,13 @@ no_params:
 			if (goi->isconfigure) {
 				Jim_Obj *o_t;
 				struct jtag_tap *tap;
+
+				if (target->has_dap) {
+					Jim_SetResultString(goi->interp,
+						"target requires -dap parameter instead of -chain-position!", -1);
+					return JIM_ERR;
+				}
+
 				target_free_all_working_areas(target);
 				e = Jim_GetOpt_Obj(goi, &o_t);
 				if (e != JIM_OK)
@@ -4772,8 +4779,8 @@ no_params:
 				tap = jtag_tap_by_jim_obj(goi->interp, o_t);
 				if (tap == NULL)
 					return JIM_ERR;
-				/* make this exactly 1 or 0 */
 				target->tap = tap;
+				target->tap_configured = true;
 			} else {
 				if (goi->argc != 0)
 					goto no_params;
@@ -5591,9 +5598,21 @@ static int target_create(Jim_GetOptInfo *goi)
 	goi->isconfigure = 1;
 	e = target_configure(goi, target);
 
-	if (target->tap == NULL) {
-		Jim_SetResultString(goi->interp, "-chain-position required when creating target", -1);
-		e = JIM_ERR;
+	if (e == JIM_OK) {
+		if (target->has_dap) {
+			if (!target->dap_configured) {
+				Jim_SetResultString(goi->interp, "-dap ?name? required when creating target", -1);
+				e = JIM_ERR;
+			}
+		} else {
+			if (!target->tap_configured) {
+				Jim_SetResultString(goi->interp, "-chain-position ?name? required when creating target", -1);
+				e = JIM_ERR;
+			}
+		}
+		/* tap must be set after target was configured */
+		if (target->tap == NULL)
+			e = JIM_ERR;
 	}
 
 	if (e != JIM_OK) {
@@ -5610,14 +5629,23 @@ static int target_create(Jim_GetOptInfo *goi)
 	cp = Jim_GetString(new_cmd, NULL);
 	target->cmd_name = strdup(cp);
 
+	if (target->type->target_create) {
+		e = (*(target->type->target_create))(target, goi->interp);
+		if (e != ERROR_OK) {
+			LOG_DEBUG("target_create failed");
+			free(target->type);
+			free(target->cmd_name);
+			free(target);
+			return JIM_ERR;
+		}
+	}
+
 	/* create the target specific commands */
 	if (target->type->commands) {
 		e = register_commands(cmd_ctx, NULL, target->type->commands);
 		if (ERROR_OK != e)
 			LOG_ERROR("unable to register '%s' commands", cp);
 	}
-	if (target->type->target_create)
-		(*(target->type->target_create))(target, goi->interp);
 
 	/* append to end of list */
 	{
diff --git a/src/target/target.h b/src/target/target.h
index 49048bc..0ce4a13 100644
--- a/src/target/target.h
+++ b/src/target/target.h
@@ -181,10 +181,15 @@ struct target {
 	bool halt_issued;					/* did we transition to halted state? */
 	int64_t halt_issued_time;			/* Note time when halt was issued */
 
+										/* ARM v7/v8 targets with ADIv5 interface */
 	bool dbgbase_set;					/* By default the debug base is not set */
 	uint32_t dbgbase;					/* Really a Cortex-A specific option, but there is no
 										 * system in place to support target specific options
 										 * currently. */
+	bool has_dap;						/* set to true if target has ADIv5 support */
+	bool dap_configured;				/* set to true if ADIv5 DAP is configured */
+	bool tap_configured;				/* set to true if JTAG tap has been configured
+										 * through -chain-position */
 
 	struct rtos *rtos;					/* Instance of Real Time Operating System support */
 	bool rtos_auto_detect;				/* A flag that indicates that the RTOS has been specified as "auto"