- cleaned up str7, str9 and stm32 flash drivers

- str7 flash driver now checks correct busy bits depending on device
- str9 flash driver now disables ITCM order as per st programming manual
- added str7 disable_jtag command
- added gdb_detach command
- updated arm966e cp15 support
- fix crash on mingw build when enabling target_request debugmsgs

git-svn-id: svn://svn.berlios.de/openocd/trunk@209 b42882b7-edfa-0310-969c-e2dbd0fdcd60

10 files changed, 236 insertions, 72 deletions

diff --git a/src/flash/flash.c b/src/flash/flash.c
index 9ab34e7..7dc7f1b 100644
--- a/src/flash/flash.c
+++ b/src/flash/flash.c
@@ -574,6 +574,7 @@ int handle_flash_write_image_command(struct command_context_s *cmd_ctx, char *cm
 	{
 		command_print(cmd_ctx, "failed writing image %s: %s", args[0], error_str);
 		free(error_str);
+		free(failed);
 	}
 	
 	for (i = 0; i < image.num_sections; i++)
@@ -589,7 +590,9 @@ int handle_flash_write_image_command(struct command_context_s *cmd_ctx, char *cm
 	command_print(cmd_ctx, "wrote %u byte from file %s in %s (%f kb/s)",
 		written, args[0], duration_text,
 		(float)written / 1024.0 / ((float)duration.duration.tv_sec + ((float)duration.duration.tv_usec / 1000000.0)));
+
 	free(duration_text);
+	free(failed);
 
 	image_close(&image);
 	
diff --git a/src/flash/stm32x.c b/src/flash/stm32x.c
index 15cbb74..885f2cf 100644
--- a/src/flash/stm32x.c
+++ b/src/flash/stm32x.c
@@ -291,7 +291,7 @@ int stm32x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 co
 	u32 buffer_size = 8192;
 	working_area_t *source;
 	u32 address = bank->base + offset;
-	reg_param_t reg_params[6];
+	reg_param_t reg_params[4];
 	armv7m_algorithm_t armv7m_info;
 	int retval = ERROR_OK;
 	
@@ -318,16 +318,13 @@ int stm32x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 co
 	};
 	
 	/* flash write code */
-	if (!stm32x_info->write_algorithm)
+	if (target_alloc_working_area(target, sizeof(stm32x_flash_write_code), &stm32x_info->write_algorithm) != ERROR_OK)
 	{
-		if (target_alloc_working_area(target, sizeof(stm32x_flash_write_code), &stm32x_info->write_algorithm) != ERROR_OK)
-		{
-			WARNING("no working area available, can't do block memory writes");
-			return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
-		};
-		
-		target_write_buffer(target, stm32x_info->write_algorithm->address, sizeof(stm32x_flash_write_code), stm32x_flash_write_code);
-	}
+		WARNING("no working area available, can't do block memory writes");
+		return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+	};
+	
+	target_write_buffer(target, stm32x_info->write_algorithm->address, sizeof(stm32x_flash_write_code), stm32x_flash_write_code);
 
 	/* memory buffer */
 	while (target_alloc_working_area(target, buffer_size, &source) != ERROR_OK)
@@ -352,8 +349,6 @@ int stm32x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 co
 	init_reg_param(&reg_params[1], "r1", 32, PARAM_OUT);
 	init_reg_param(&reg_params[2], "r2", 32, PARAM_OUT);
 	init_reg_param(&reg_params[3], "r3", 32, PARAM_IN);
-	init_reg_param(&reg_params[4], "r4", 32, PARAM_IN);
-	init_reg_param(&reg_params[5], "r5", 32, PARAM_IN);
 	
 	while (count > 0)
 	{
@@ -365,7 +360,7 @@ int stm32x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 co
 		buf_set_u32(reg_params[1].value, 0, 32, address);
 		buf_set_u32(reg_params[2].value, 0, 32, thisrun_count);
 		
-		if ((retval = target->type->run_algorithm(target, 0, NULL, 6, reg_params, stm32x_info->write_algorithm->address, \
+		if ((retval = target->type->run_algorithm(target, 0, NULL, 4, reg_params, stm32x_info->write_algorithm->address, \
 				stm32x_info->write_algorithm->address + (sizeof(stm32x_flash_write_code) - 10), 10000, &armv7m_info)) != ERROR_OK)
 		{
 			ERROR("error executing str7x flash write algorithm");
@@ -384,13 +379,12 @@ int stm32x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 co
 	}
 	
 	target_free_working_area(target, source);
+	target_free_working_area(target, stm32x_info->write_algorithm);
 	
 	destroy_reg_param(&reg_params[0]);
 	destroy_reg_param(&reg_params[1]);
 	destroy_reg_param(&reg_params[2]);
 	destroy_reg_param(&reg_params[3]);
-	destroy_reg_param(&reg_params[4]);
-	destroy_reg_param(&reg_params[5]);
 	
 	return retval;
 }
diff --git a/src/flash/str7x.c b/src/flash/str7x.c
index 6771506..2b3e47f 100644
--- a/src/flash/str7x.c
+++ b/src/flash/str7x.c
@@ -59,6 +59,8 @@ int str7x_protect_check(struct flash_bank_s *bank);
 int str7x_erase_check(struct flash_bank_s *bank);
 int str7x_info(struct flash_bank_s *bank, char *buf, int buf_size);
 
+int str7x_handle_disable_jtag_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
+
 flash_driver_t str7x_flash =
 {
 	.name = "str7x",
@@ -75,7 +77,11 @@ flash_driver_t str7x_flash =
 
 int str7x_register_commands(struct command_context_s *cmd_ctx)
 {
-
+	command_t *str7x_cmd = register_command(cmd_ctx, NULL, "str7x", NULL, COMMAND_ANY, NULL);
+	
+	register_command(cmd_ctx, str7x_cmd, "disable_jtag", str7x_handle_disable_jtag_command, COMMAND_EXEC,
+					 "disable jtag access");
+					 
 	return ERROR_OK;
 }
 
@@ -165,9 +171,13 @@ int str7x_flash_bank_command(struct command_context_s *cmd_ctx, char *cmd, char
 	str7x_info = malloc(sizeof(str7x_flash_bank_t));
 	bank->driver_priv = str7x_info;
 	
+	/* set default bits for str71x flash */
+	str7x_info->bank1 = 1;
+	str7x_info->busy_bits = (FLASH_LOCK|FLASH_BSYA1|FLASH_BSYA0);
+	str7x_info->disable_bit = (1<<1);
+	
 	if (strcmp(args[6], "STR71x") == 0)
 	{
-		str7x_info->bank1 = 1;
 		if (bank->base != 0x40000000)
 		{
 			WARNING("overriding flash base address for STR71x device with 0x40000000");
@@ -177,6 +187,8 @@ int str7x_flash_bank_command(struct command_context_s *cmd_ctx, char *cmd, char
 	else if (strcmp(args[6], "STR73x") == 0)
 	{
 		str7x_info->bank1 = 0;
+		str7x_info->busy_bits = (FLASH_LOCK|FLASH_BSYA0);
+		
 		if (bank->base != 0x80000000)
 		{
 			WARNING("overriding flash base address for STR73x device with 0x80000000");
@@ -185,7 +197,8 @@ int str7x_flash_bank_command(struct command_context_s *cmd_ctx, char *cmd, char
 	}
 	else if (strcmp(args[6], "STR75x") == 0)
 	{
-		str7x_info->bank1 = 1;
+		str7x_info->disable_bit = (1<<0);
+		
 		if (bank->base != 0x20000000)
 		{
 			WARNING("overriding flash base address for STR75x device with 0x20000000");
@@ -331,7 +344,7 @@ int str7x_erase(struct flash_bank_s *bank, int first, int last)
 		cmd = FLASH_SER|FLASH_WMS;
 		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), cmd);
 		
-		while (((retval = str7x_status(bank)) & (FLASH_BSYA1|FLASH_BSYA2))){
+		while (((retval = str7x_status(bank)) & str7x_info->busy_bits)){
 			usleep(1000);
 		}
 		
@@ -360,7 +373,7 @@ int str7x_erase(struct flash_bank_s *bank, int first, int last)
 		cmd = FLASH_SER|FLASH_WMS;
 		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), cmd);
 		
-		while (((retval = str7x_status(bank)) & (FLASH_BSYA1|FLASH_BSYA2))){
+		while (((retval = str7x_status(bank)) & str7x_info->busy_bits)){
 			usleep(1000);
 		}
 		
@@ -416,7 +429,7 @@ int str7x_protect(struct flash_bank_s *bank, int set, int first, int last)
 	cmd = FLASH_SPR|FLASH_WMS;
 	target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), cmd);
 	
-	while (((retval = str7x_status(bank)) & (FLASH_BSYA1|FLASH_BSYA2))){
+	while (((retval = str7x_status(bank)) & str7x_info->busy_bits)){
 		usleep(1000);
 	}
 	
@@ -439,7 +452,7 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 	u32 buffer_size = 8192;
 	working_area_t *source;
 	u32 address = bank->base + offset;
-	reg_param_t reg_params[5];
+	reg_param_t reg_params[6];
 	armv4_5_algorithm_t armv4_5_info;
 	int retval = ERROR_OK;
 	
@@ -456,7 +469,7 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 		0xe5824000, /*	str r4, [r2, #0x0]	*/
 		            /* busy:				*/
 		0xe5924000, /*	ldr r4, [r2, #0x0]	*/
-		0xe3140016, /*	tst r4, #0x16		*/
+		0xe1140005,	/*	tst r4, r5			*/
 		0x1afffffc, /*	bne busy			*/
 		0xe5924014, /*	ldr r4, [r2, #0x14]	*/
 		0xe31400ff, /*	tst r4, #0xff		*/
@@ -469,24 +482,14 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 		0xeafffffe, /*	b exit				*/
 	};
 	
-	u8 str7x_flash_write_code_buf[80];
-	int i;
-	
 	/* flash write code */
-	if (!str7x_info->write_algorithm)
+	if (target_alloc_working_area(target, 4 * 20, &str7x_info->write_algorithm) != ERROR_OK)
 	{
-		if (target_alloc_working_area(target, 4 * 20, &str7x_info->write_algorithm) != ERROR_OK)
-		{
-			WARNING("no working area available, can't do block memory writes");
-			return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
-		};
-
-		/* convert flash writing code into a buffer in target endianness */
-		for (i = 0; i < 20; i++)
-			target_buffer_set_u32(target, str7x_flash_write_code_buf + i*4, str7x_flash_write_code[i]);
-			
-		target_write_buffer(target, str7x_info->write_algorithm->address, 20 * 4, str7x_flash_write_code_buf);
-	}
+		WARNING("no working area available, can't do block memory writes");
+		return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+	};
+	
+	target_write_buffer(target, str7x_info->write_algorithm->address, 20 * 4, (u8*)str7x_flash_write_code);
 
 	/* memory buffer */
 	while (target_alloc_working_area(target, buffer_size, &source) != ERROR_OK)
@@ -501,7 +504,7 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 			WARNING("no large enough working area available, can't do block memory writes");
 			return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
 		}
-	};
+	}
 	
 	armv4_5_info.common_magic = ARMV4_5_COMMON_MAGIC;
 	armv4_5_info.core_mode = ARMV4_5_MODE_SVC;
@@ -512,6 +515,7 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 	init_reg_param(&reg_params[2], "r2", 32, PARAM_OUT);
 	init_reg_param(&reg_params[3], "r3", 32, PARAM_OUT);
 	init_reg_param(&reg_params[4], "r4", 32, PARAM_IN);
+	init_reg_param(&reg_params[5], "r5", 32, PARAM_OUT);
 	
 	while (count > 0)
 	{
@@ -523,8 +527,9 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 		buf_set_u32(reg_params[1].value, 0, 32, address);
 		buf_set_u32(reg_params[2].value, 0, 32, str7x_get_flash_adr(bank, FLASH_CR0));
 		buf_set_u32(reg_params[3].value, 0, 32, thisrun_count);
+		buf_set_u32(reg_params[5].value, 0, 32, str7x_info->busy_bits);
 	
-		if ((retval = target->type->run_algorithm(target, 0, NULL, 5, reg_params, str7x_info->write_algorithm->address, str7x_info->write_algorithm->address + (19 * 4), 10000, &armv4_5_info)) != ERROR_OK)
+		if ((retval = target->type->run_algorithm(target, 0, NULL, 6, reg_params, str7x_info->write_algorithm->address, str7x_info->write_algorithm->address + (19 * 4), 10000, &armv4_5_info)) != ERROR_OK)
 		{
 			ERROR("error executing str7x flash write algorithm");
 			break;
@@ -542,12 +547,14 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 	}
 	
 	target_free_working_area(target, source);
+	target_free_working_area(target, str7x_info->write_algorithm);
 	
 	destroy_reg_param(&reg_params[0]);
 	destroy_reg_param(&reg_params[1]);
 	destroy_reg_param(&reg_params[2]);
 	destroy_reg_param(&reg_params[3]);
 	destroy_reg_param(&reg_params[4]);
+	destroy_reg_param(&reg_params[5]);
 	
 	return retval;
 }
@@ -555,6 +562,7 @@ int str7x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 int str7x_write(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 count)
 {
 	target_t *target = bank->target;
+	str7x_flash_bank_t *str7x_info = bank->driver_priv;
 	u32 dwords_remaining = (count / 8);
 	u32 bytes_remaining = (count & 0x00000007);
 	u32 address = bank->base + offset;
@@ -647,7 +655,7 @@ int str7x_write(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 count)
 		cmd = FLASH_DWPG | FLASH_WMS;
 		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), cmd);
 		
-		while (((retval = str7x_status(bank)) & (FLASH_BSYA1 | FLASH_BSYA2)))
+		while (((retval = str7x_status(bank)) & str7x_info->busy_bits))
 		{
 			usleep(1000);
 		}
@@ -694,7 +702,7 @@ int str7x_write(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 count)
 		cmd = FLASH_DWPG | FLASH_WMS;
 		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), cmd);
 		
-		while (((retval = str7x_status(bank)) & (FLASH_BSYA1 | FLASH_BSYA2)))
+		while (((retval = str7x_status(bank)) & str7x_info->busy_bits))
 		{
 			usleep(1000);
 		}
@@ -730,3 +738,76 @@ int str7x_info(struct flash_bank_s *bank, char *buf, int buf_size)
 	snprintf(buf, buf_size, "str7x flash driver info" );
 	return ERROR_OK;
 }
+
+int str7x_handle_disable_jtag_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
+{
+	flash_bank_t *bank;
+	target_t *target = NULL;
+	str7x_flash_bank_t *str7x_info = NULL;
+	
+	u32 flash_cmd;
+	u32 retval;
+	u16 ProtectionLevel = 0;
+	u16 ProtectionRegs;
+	
+	if (argc < 1)
+	{
+		command_print(cmd_ctx, "str7x disable_jtag <bank>");
+		return ERROR_OK;	
+	}
+	
+	bank = get_flash_bank_by_num(strtoul(args[0], NULL, 0));
+	if (!bank)
+	{
+		command_print(cmd_ctx, "str7x disable_jtag <bank> ok");
+		return ERROR_OK;
+	}
+	
+	str7x_info = bank->driver_priv;
+	
+	target = bank->target;
+	
+	if (target->state != TARGET_HALTED)
+	{
+		return ERROR_TARGET_NOT_HALTED;
+	}
+	
+	/* first we get protection status */
+	target_read_u32(target, str7x_get_flash_adr(bank, FLASH_NVAPR0), &retval);
+
+	if (!(retval & str7x_info->disable_bit))
+	{
+		ProtectionLevel = 1;
+	}
+	
+	target_read_u32(target, str7x_get_flash_adr(bank, FLASH_NVAPR1), &retval);
+	ProtectionRegs = ~(retval >> 16);
+
+	while (((ProtectionRegs) != 0) && (ProtectionLevel < 16))
+	{
+		ProtectionRegs >>= 1;
+		ProtectionLevel++;
+	}
+	
+	if (ProtectionLevel == 0)
+	{
+		flash_cmd = FLASH_SPR;
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), flash_cmd);
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_AR), 0x4010DFB8);
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_DR0), 0xFFFFFFFD);
+		flash_cmd = FLASH_SPR | FLASH_WMS;
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), flash_cmd);
+	}
+	else
+	{
+		flash_cmd = FLASH_SPR;
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), flash_cmd);
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_AR), 0x4010DFBC);
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_DR0), ~(1<<(15+ProtectionLevel)));
+		flash_cmd = FLASH_SPR | FLASH_WMS;
+		target_write_u32(target, str7x_get_flash_adr(bank, FLASH_CR0), flash_cmd);
+	}
+	
+	return ERROR_OK;
+}
+
diff --git a/src/flash/str7x.h b/src/flash/str7x.h
index a823bb8..bbb64eb 100644
--- a/src/flash/str7x.h
+++ b/src/flash/str7x.h
@@ -28,6 +28,8 @@ typedef struct str7x_flash_bank_s
 	int bank1;
 	u32 *sector_bank;
 	u32 *sector_bits;
+	u32 disable_bit;
+	u32 busy_bits;
 	working_area_t *write_algorithm;
 } str7x_flash_bank_t;
 
@@ -69,8 +71,9 @@ enum str7x_status_codes
 #define FLASH_SPR		0x01000000
 #define FLASH_BER		0x04000000
 #define FLASH_MER		0x02000000
-#define FLASH_BSYA1		0x00000002
-#define FLASH_BSYA2		0x00000004
+#define FLASH_LOCK		0x00000010
+#define FLASH_BSYA1		0x00000004
+#define FLASH_BSYA0		0x00000002
 
 /* FLASH_CR1 regsiter bits */
 
diff --git a/src/flash/str9x.c b/src/flash/str9x.c
index 66b2703..fcbca89 100644
--- a/src/flash/str9x.c
+++ b/src/flash/str9x.c
@@ -28,6 +28,7 @@
 #include "target.h"
 #include "log.h"
 #include "armv4_5.h"
+#include "arm966e.h"
 #include "algorithm.h"
 #include "binarybuffer.h"
 
@@ -351,24 +352,14 @@ int str9x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 		0xeafffffe,	/*	b exit				*/
 	};
 	
-	u8 str9x_flash_write_code_buf[76];
-	int i;
-	
 	/* flash write code */
-	if (!str9x_info->write_algorithm)
+	if (target_alloc_working_area(target, 4 * 19, &str9x_info->write_algorithm) != ERROR_OK)
 	{
-		if (target_alloc_working_area(target, 4 * 19, &str9x_info->write_algorithm) != ERROR_OK)
-		{
-			WARNING("no working area available, can't do block memory writes");
-			return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
-		};
-
-		/* convert flash writing code into a buffer in target endianness */
-		for (i = 0; i < 19; i++)
-			target_buffer_set_u32(target, str9x_flash_write_code_buf + i*4, str9x_flash_write_code[i]);
-			
-		target_write_buffer(target, str9x_info->write_algorithm->address, 19 * 4, str9x_flash_write_code_buf);
-	}
+		WARNING("no working area available, can't do block memory writes");
+		return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
+	};
+		
+	target_write_buffer(target, str9x_info->write_algorithm->address, 19 * 4, (u8*)str9x_flash_write_code);
 
 	/* memory buffer */
 	while (target_alloc_working_area(target, buffer_size, &source) != ERROR_OK)
@@ -383,7 +374,7 @@ int str9x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 			WARNING("no large enough working area available, can't do block memory writes");
 			return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
 		}
-	};
+	}
 	
 	armv4_5_info.common_magic = ARMV4_5_COMMON_MAGIC;
 	armv4_5_info.core_mode = ARMV4_5_MODE_SVC;
@@ -406,6 +397,8 @@ int str9x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 
 		if ((retval = target->type->run_algorithm(target, 0, NULL, 4, reg_params, str9x_info->write_algorithm->address, str9x_info->write_algorithm->address + (18 * 4), 10000, &armv4_5_info)) != ERROR_OK)
 		{
+			target_free_working_area(target, source);
+			target_free_working_area(target, str9x_info->write_algorithm);
 			ERROR("error executing str9x flash write algorithm");
 			return ERROR_FLASH_OPERATION_FAILED;
 		}
@@ -420,6 +413,9 @@ int str9x_write_block(struct flash_bank_s *bank, u8 *buffer, u32 offset, u32 cou
 		count -= thisrun_count;
 	}
 	
+	target_free_working_area(target, source);
+	target_free_working_area(target, str9x_info->write_algorithm);
+	
 	destroy_reg_param(&reg_params[0]);
 	destroy_reg_param(&reg_params[1]);
 	destroy_reg_param(&reg_params[2]);
@@ -615,10 +611,13 @@ int str9x_handle_flash_config_command(struct command_context_s *cmd_ctx, char *c
 	/* config flash controller */
 	target_write_u32(target, FLASH_BBSR, strtoul(args[0], NULL, 0));
 	target_write_u32(target, FLASH_NBBSR, strtoul(args[1], NULL, 0));
-    target_write_u32(target, FLASH_BBADR, (strtoul(args[2], NULL, 0) >> 2));
-    target_write_u32(target, FLASH_NBBADR, (strtoul(args[3], NULL, 0) >> 2));
+	target_write_u32(target, FLASH_BBADR, (strtoul(args[2], NULL, 0) >> 2));
+	target_write_u32(target, FLASH_NBBADR, (strtoul(args[3], NULL, 0) >> 2));
 
+	/* set b18 instruction TCM order as per flash programming manual */
+	arm966e_write_cp15(target, 62, 0x40000);
+	
 	/* enable flash bank 1 */
-    target_write_u32(target, FLASH_CR, 0x18);
+	target_write_u32(target, FLASH_CR, 0x18);
 	return ERROR_OK;
 }
diff --git a/src/server/gdb_server.c b/src/server/gdb_server.c
index f579de1..74928c8 100644
--- a/src/server/gdb_server.c
+++ b/src/server/gdb_server.c
@@ -44,6 +44,16 @@
 
 static unsigned short gdb_port;
 
+enum gdb_detach_mode
+{
+	GDB_DETACH_RESUME,
+	GDB_DETACH_RESET,
+	GDB_DETACH_HALT,
+	GDB_DETACH_NOTHING
+};
+
+enum gdb_detach_mode detach_mode = GDB_DETACH_RESUME;
+
 int gdb_last_signal(target_t *target)
 {
 	switch (target->debug_reason)
@@ -172,7 +182,6 @@ int gdb_put_packet(connection_t *connection, char *buffer, int len)
 
 	while (1)
 	{
-
 		debug_buffer = malloc(len + 1);
 		memcpy(debug_buffer, buffer, len);
 		debug_buffer[len] = 0;
@@ -1304,6 +1313,31 @@ int gdb_v_packet(connection_t *connection, target_t *target, char *packet, int p
 	return ERROR_OK;
 }
 
+int gdb_detach(connection_t *connection, target_t *target)
+{
+	switch( detach_mode )
+	{
+		case GDB_DETACH_RESUME:
+			target->type->resume(target, 1, 0, 1, 0);
+			break;
+		
+		case GDB_DETACH_RESET:
+			target_process_reset(connection->cmd_ctx);
+			break;
+		
+		case GDB_DETACH_HALT:
+			target->type->halt(target);
+			break;
+		
+		case GDB_DETACH_NOTHING:
+			break;
+	}
+	
+	gdb_put_packet(connection, "OK", 2);
+	
+	return ERROR_OK;
+}
+
 int gdb_input(connection_t *connection)
 {
 	gdb_service_t *gdb_service = connection->service->priv;
@@ -1383,8 +1417,7 @@ int gdb_input(connection_t *connection)
 					retval = gdb_v_packet(connection, target, packet, packet_size);
 					break;
 				case 'D':
-					target->type->resume(target, 1, 0, 1, 0);
-					gdb_put_packet(connection, "OK", 2);
+					retval = gdb_detach(connection, target);
 					break;
 				case 'X':
 					if ((retval = gdb_write_memory_binary_packet(connection, target, packet, packet_size)) != ERROR_OK)
@@ -1470,10 +1503,42 @@ int handle_gdb_port_command(struct command_context_s *cmd_ctx, char *cmd, char *
 	return ERROR_OK;
 }
 
+int handle_gdb_detach_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
+{
+	if (argc == 1)
+	{
+		if (strcmp(args[0], "resume") == 0)
+		{
+			detach_mode = GDB_DETACH_RESUME;
+			return ERROR_OK;
+		}
+		else if (strcmp(args[0], "reset") == 0)
+		{
+			detach_mode = GDB_DETACH_RESET;
+			return ERROR_OK;
+		}
+		else if (strcmp(args[0], "halt") == 0)
+		{
+			detach_mode = GDB_DETACH_HALT;
+			return ERROR_OK;
+		}
+		else if (strcmp(args[0], "nothing") == 0)
+		{
+			detach_mode = GDB_DETACH_NOTHING;
+			return ERROR_OK;
+		}
+	}
+	
+	WARNING("invalid gdb_detach configuration directive: %s", args[0]);
+	return ERROR_OK;
+}
+
 int gdb_register_commands(command_context_t *command_context)
 {
 	register_command(command_context, NULL, "gdb_port", handle_gdb_port_command,
 			COMMAND_CONFIG, "");
-
+	register_command(command_context, NULL, "gdb_detach", handle_gdb_detach_command,
+			COMMAND_CONFIG, "");
+	
 	return ERROR_OK;
 }
diff --git a/src/target/arm966e.c b/src/target/arm966e.c
index 80ccd61..53627a5 100644
--- a/src/target/arm966e.c
+++ b/src/target/arm966e.c
@@ -226,10 +226,16 @@ int arm966e_read_cp15(target_t *target, int reg_addr, u32 *value)
 	
 	jtag_add_dr_scan(3, fields, -1, NULL);
 
-	fields[0].in_value = (u8*)value;
+	fields[0].in_handler_priv = value;
+	fields[0].in_handler = arm_jtag_buf_to_u32;
 
 	jtag_add_dr_scan(3, fields, -1, NULL);
 
+#ifdef _DEBUG_INSTRUCTION_EXECUTION_
+	jtag_execute_queue();
+	DEBUG("addr: 0x%x value: %8.8x", reg_addr, *value);
+#endif
+
 	return ERROR_OK;
 }
 
@@ -241,6 +247,9 @@ int arm966e_write_cp15(target_t *target, int reg_addr, u32 value)
 	scan_field_t fields[3];
 	u8 reg_addr_buf = reg_addr & 0x3f;
 	u8 nr_w_buf = 1;
+	u8 value_buf[4];
+	
+	buf_set_u32(value_buf, 0, 32, value);
 	
 	jtag_add_end_state(TAP_RTI);
 	arm_jtag_scann(jtag_info, 0xf);
@@ -248,7 +257,7 @@ int arm966e_write_cp15(target_t *target, int reg_addr, u32 value)
 
 	fields[0].device = jtag_info->chain_pos;
 	fields[0].num_bits = 32;
-	fields[0].out_value = (u8*)&value;
+	fields[0].out_value = value_buf;
 	fields[0].out_mask = NULL;
 	fields[0].in_value = NULL;
 	fields[0].in_check_value = NULL;
@@ -278,6 +287,10 @@ int arm966e_write_cp15(target_t *target, int reg_addr, u32 value)
 	
 	jtag_add_dr_scan(3, fields, -1, NULL);
 
+#ifdef _DEBUG_INSTRUCTION_EXECUTION_
+	DEBUG("addr: 0x%x value: %8.8x", reg_addr, value);
+#endif
+
 	return ERROR_OK;
 }
 
diff --git a/src/target/arm966e.h b/src/target/arm966e.h
index d4624f6..7169820 100644
--- a/src/target/arm966e.h
+++ b/src/target/arm966e.h
@@ -35,4 +35,7 @@ typedef struct arm966e_common_s
 	u32 cp15_control_reg;
 } arm966e_common_t;
 
+extern int arm966e_read_cp15(target_t *target, int reg_addr, u32 *value);
+extern int arm966e_write_cp15(target_t *target, int reg_addr, u32 value);
+
 #endif /* ARM966E_H */
diff --git a/src/target/target.c b/src/target/target.c
index 71ad1e4..f471167 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -1013,7 +1013,9 @@ int handle_target_command(struct command_context_s *cmd_ctx, char *cmd, char **a
 				(*last_target_p)->trace_info->trace_history = NULL;
 				(*last_target_p)->trace_info->trace_history_pos = 0;
 				(*last_target_p)->trace_info->trace_history_overflowed = 0;
-								
+				
+				(*last_target_p)->dbgmsg = NULL;
+				
 				(*last_target_p)->type->target_command(cmd_ctx, cmd, args, argc, *last_target_p);
 				
 				found = 1;
diff --git a/src/target/target.h b/src/target/target.h
index f6c09c0..ae5fbc4 100644
--- a/src/target/target.h
+++ b/src/target/target.h
@@ -201,6 +201,7 @@ extern int target_register_commands(struct command_context_s *cmd_ctx);
 extern int target_register_user_commands(struct command_context_s *cmd_ctx);
 extern int target_init(struct command_context_s *cmd_ctx);
 extern int handle_target(void *priv);
+extern int target_process_reset(struct command_context_s *cmd_ctx);
 
 extern int target_register_event_callback(int (*callback)(struct target_s *target, enum target_event event, void *priv), void *priv);
 extern int target_unregister_event_callback(int (*callback)(struct target_s *target, enum target_event event, void *priv), void *priv);