[OpenOCD-commit] Main OpenOCD repository branch, master, updated. v0.12.0-283-g94686eea6

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- Log -----------------------------------------------------------------
commit 94686eea6e982a83e5c1796e8a903bf683ed62e5
Author: Ahmed BOUDJELIDA <abo...@na...>
Date:   Sat Jun 17 01:11:15 2023 +0200

    jtag/drivers: Add new driver for ANGIE USB-JTAG Adapter
    
    This is the driver code for NanoXplore's ANGIE USB-JTAG Adapter.
    The driver is based on the openULINK project.
    
    This driver communicate with ANGIE's firmware in order to establish
    JTAG protocol to debug the target chip.
    
    Since the ANGIE Adapter has a Spartan-6 FPGA in addition to the
    FX2 microcontroller, the driver adds two functions, one to download
    the firmware (embedded C) to the FX2, and the second to program
    the FPGA with its bitstream.
    
    Add ANGIE's configuration file to tcl/interface/
    Add the device VID/PID to 60-openocd.rules file.
    Add ANGIE to OpenOCD's documentation
    
    Change-Id: Id17111c74073da01450d43d466e11b0cc086691f
    Signed-off-by: Ahmed BOUDJELIDA <abo...@na...>
    Reviewed-on: https://review.openocd.org/c/openocd/+/7702
    Reviewed-by: Antonio Borneo <bor...@gm...>
    Tested-by: jenkins

diff --git a/configure.ac b/configure.ac
index ac2808e1f..ecf8384bf 100644
--- a/configure.ac
+++ b/configure.ac
@@ -118,6 +118,7 @@ m4_define([USB1_ADAPTERS],
 	[[stlink], [ST-Link Programmer], [HLADAPTER_STLINK]],
 	[[ti_icdi], [TI ICDI JTAG Programmer], [HLADAPTER_ICDI]],
 	[[ulink], [Keil ULINK JTAG Programmer], [ULINK]],
+	[[angie], [ANGIE Adapter], [ANGIE]],
 	[[usb_blaster_2], [Altera USB-Blaster II Compatible], [USB_BLASTER_2]],
 	[[ft232r], [Bitbang mode of FT232R based devices], [FT232R]],
 	[[vsllink], [Versaloon-Link JTAG Programmer], [VSLLINK]],
diff --git a/contrib/60-openocd.rules b/contrib/60-openocd.rules
index fc35fb9b9..fd88564bd 100644
--- a/contrib/60-openocd.rules
+++ b/contrib/60-openocd.rules
@@ -224,6 +224,10 @@ ATTRS{idVendor}=="2aec", ATTRS{idProduct}=="1106", MODE="660", GROUP="plugdev",
 ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001", MODE="660", GROUP="plugdev", TAG+="uaccess"
 ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1002", MODE="660", GROUP="plugdev", TAG+="uaccess"
 
+# ANGIE USB-JTAG Adapter
+ATTRS{idVendor}=="584e", ATTRS{idProduct}=="424e", MODE="660", GROUP="plugdev", TAG+="uaccess"
+ATTRS{idVendor}=="584e", ATTRS{idProduct}=="4a55", MODE="660", GROUP="plugdev", TAG+="uaccess"
+
 # Marvell Sheevaplug
 ATTRS{idVendor}=="9e88", ATTRS{idProduct}=="9e8f", MODE="660", GROUP="plugdev", TAG+="uaccess"
 
diff --git a/doc/openocd.texi b/doc/openocd.texi
index 03c5190ad..3348e472b 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -508,6 +508,9 @@ debuggers to ARM Cortex based targets @url{http://www.keil.com/support/man/docs/
 @item @b{ARM-JTAG-EW}
 @* Link: @url{http://www.olimex.com/dev/arm-jtag-ew.html}
 
+@item @b{angie}
+@* Link: @url{https://nanoxplore.org/}
+
 @item @b{Buspirate}
 @* Link: @url{http://dangerousprototypes.com/bus-pirate-manual/}
 
@@ -2515,6 +2518,10 @@ Optionally sets that option first.
 @end deffn
 @end deffn
 
+@deffn {Interface Driver} {angie}
+This is the NanoXplore's ANGIE USB-JTAG Adapter.
+@end deffn
+
 @deffn {Interface Driver} {arm-jtag-ew}
 Olimex ARM-JTAG-EW USB adapter
 This has one driver-specific command:
diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am
index 6410f3754..4b2dbc44d 100644
--- a/src/jtag/drivers/Makefile.am
+++ b/src/jtag/drivers/Makefile.am
@@ -10,8 +10,10 @@ noinst_LTLIBRARIES += %D%/libocdjtagdrivers.la
 %C%_libocdjtagdrivers_la_CPPFLAGS = $(AM_CPPFLAGS)
 
 ULINK_FIRMWARE = %D%/OpenULINK
+ANGIE_FILES = %D%/angie
 
 EXTRA_DIST += $(ULINK_FIRMWARE) \
+	$(ANGIE_FILES) \
 	%D%/usb_blaster/README.CheapClone \
 	%D%/Makefile.rlink \
 	%D%/rlink_call.m4 \
@@ -123,6 +125,12 @@ ulinkdir = $(pkgdatadir)/OpenULINK
 dist_ulink_DATA = $(ULINK_FIRMWARE)/ulink_firmware.hex
 %C%_libocdjtagdrivers_la_LIBADD += -lm
 endif
+if ANGIE
+DRIVERFILES += %D%/angie.c
+angiedir = $(pkgdatadir)/angie
+dist_angie_DATA = $(ANGIE_FILES)/angie_firmware.bin $(ANGIE_FILES)/angie_bitstream.bit
+%C%_libocdjtagdrivers_la_LIBADD += -lm
+endif
 if VSLLINK
 DRIVERFILES += %D%/versaloon/usbtoxxx/usbtogpio.c
 DRIVERFILES += %D%/versaloon/usbtoxxx/usbtojtagraw.c
diff --git a/src/jtag/drivers/angie.c b/src/jtag/drivers/angie.c
new file mode 100644
index 000000000..35811fb80
--- /dev/null
+++ b/src/jtag/drivers/angie.c
@@ -0,0 +1,2280 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/***************************************************************************
+	File : angie.c															*
+	Contents : OpenOCD driver code for NanoXplore USB-JTAG ANGIE			*
+	adapter hardware.														*
+	Based on openULINK driver code by: Martin Schmoelzer.					*
+	Copyright 2023, Ahmed Errached BOUDJELIDA, NanoXplore SAS.				*
+	<abo...@na...>											*
+	<ahm...@gm...>											*
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include "helper/system.h"
+#include <jtag/interface.h>
+#include <jtag/commands.h>
+#include <target/image.h>
+#include <libusb.h>
+#include "libusb_helper.h"
+#include "angie/include/msgtypes.h"
+
+/** USB Vendor ID of ANGIE device in unconfigured state (no firmware loaded
+ *  yet) or with its firmware. */
+#define ANGIE_VID				0x584e
+
+/** USB Product ID of ANGIE device in unconfigured state (no firmware loaded
+ *  yet) or with its firmware. */
+#define ANGIE_PID				0x424e
+#define ANGIE_PID_2				0x4a55
+
+/** Address of EZ-USB ANGIE CPU Control & Status register. This register can be
+ *  written by issuing a Control EP0 vendor request. */
+#define CPUCS_REG				0xE600
+
+/** USB Control EP0 bRequest: "Firmware Load". */
+#define REQUEST_FIRMWARE_LOAD	0xA0
+
+/** Value to write into CPUCS to put EZ-USB ANGIE into reset. */
+#define CPU_RESET				0x01
+
+/** Value to write into CPUCS to put EZ-USB ANGIE out of reset. */
+#define CPU_START				0x00
+
+/** Base address of firmware in EZ-USB ANGIE code space. */
+#define FIRMWARE_ADDR			0x0000
+
+/** USB interface number */
+#define USB_INTERFACE			0
+
+/** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
+#define ANGIE_RENUMERATION_DELAY_US	1500000
+
+/** Default location of ANGIE firmware image. */
+#define ANGIE_FIRMWARE_FILE		PKGDATADIR "/angie/angie_firmware.bin"
+
+/** Default location of ANGIE firmware image. */
+#define ANGIE_BITSTREAM_FILE	PKGDATADIR "/angie/angie_bitstream.bit"
+
+/** Maximum size of a single firmware section. Entire EZ-USB ANGIE code space = 16kB */
+#define SECTION_BUFFERSIZE		16384
+
+/** Tuning of OpenOCD SCAN commands split into multiple ANGIE commands. */
+#define SPLIT_SCAN_THRESHOLD	10
+
+/** ANGIE hardware type */
+enum angie_type {
+	ANGIE,
+};
+
+enum angie_payload_direction {
+	PAYLOAD_DIRECTION_OUT,
+	PAYLOAD_DIRECTION_IN
+};
+
+enum angie_delay_type {
+	DELAY_CLOCK_TCK,
+	DELAY_CLOCK_TMS,
+	DELAY_SCAN_IN,
+	DELAY_SCAN_OUT,
+	DELAY_SCAN_IO
+};
+
+/**
+ * ANGIE command (ANGIE command queue element).
+ *
+ * For the OUT direction payload, things are quite easy: Payload is stored
+ * in a rather small array (up to 63 bytes), the payload is always allocated
+ * by the function generating the command and freed by angie_clear_queue().
+ *
+ * For the IN direction payload, things get a little bit more complicated:
+ * The maximum IN payload size for a single command is 64 bytes. Assume that
+ * a single OpenOCD command needs to scan 256 bytes. This results in the
+ * generation of four ANGIE commands. The function generating these
+ * commands shall allocate an uint8_t[256] array. Each command's #payload_in
+ * pointer shall point to the corresponding offset where IN data shall be
+ * placed, while #payload_in_start shall point to the first element of the 256
+ * byte array.
+ * - first command:  #payload_in_start + 0
+ * - second command: #payload_in_start + 64
+ * - third command:  #payload_in_start + 128
+ * - fourth command: #payload_in_start + 192
+ *
+ * The last command sets #needs_postprocessing to true.
+ */
+struct angie_cmd {
+	uint8_t id;			/**< ANGIE command ID */
+
+	uint8_t *payload_out;		/**< Pointer where OUT payload shall be stored */
+	uint8_t payload_out_size;	/**< OUT direction payload size for this command */
+
+	uint8_t *payload_in_start;	/**< Pointer to first element of IN payload array */
+	uint8_t *payload_in;		/**< Pointer where IN payload shall be stored */
+	uint8_t payload_in_size;	/**< IN direction payload size for this command */
+
+	/** Indicates if this command needs post-processing */
+	bool needs_postprocessing;
+
+	/** Indicates if angie_clear_queue() should free payload_in_start  */
+	bool free_payload_in_start;
+
+	/** Pointer to corresponding OpenOCD command for post-processing */
+	struct jtag_command *cmd_origin;
+
+	struct angie_cmd *next;		/**< Pointer to next command (linked list) */
+};
+
+/** Describes one driver instance */
+struct angie {
+	struct libusb_context *libusb_ctx;
+	struct libusb_device_handle *usb_device_handle;
+	enum angie_type type;
+
+	unsigned int ep_in;		/**< IN endpoint number */
+	unsigned int ep_out;		/**< OUT endpoint number */
+
+	/* delay value for "SLOW_CLOCK commands" in [0:255] range in units of 4 us;
+		-1 means no need for delay */
+	int delay_scan_in;	/**< Delay value for SCAN_IN commands */
+	int delay_scan_out;	/**< Delay value for SCAN_OUT commands */
+	int delay_scan_io;	/**< Delay value for SCAN_IO commands */
+	int delay_clock_tck;	/**< Delay value for CLOCK_TMS commands */
+	int delay_clock_tms;	/**< Delay value for CLOCK_TCK commands */
+
+	int commands_in_queue;		/**< Number of commands in queue */
+	struct angie_cmd *queue_start;	/**< Pointer to first command in queue */
+	struct angie_cmd *queue_end;	/**< Pointer to last command in queue */
+};
+
+/**************************** Function Prototypes *****************************/
+
+/* USB helper functions */
+static int angie_usb_open(struct angie *device);
+static int angie_usb_close(struct angie *device);
+
+/* ANGIE MCU (Cypress EZ-USB) specific functions */
+static int angie_cpu_reset(struct angie *device, char reset_bit);
+static int angie_load_firmware_and_renumerate(struct angie *device, const char *filename,
+		uint32_t delay_us);
+static int angie_load_firmware(struct angie *device, const char *filename);
+static int angie_load_bitstream(struct angie *device, const char *filename);
+
+static int angie_write_firmware_section(struct angie *device,
+		struct image *firmware_image, int section_index);
+
+/* Generic helper functions */
+static void angie_dump_signal_states(uint8_t input_signals, uint8_t output_signals);
+
+/* ANGIE command generation helper functions */
+static int angie_allocate_payload(struct angie_cmd *angie_cmd, int size,
+		enum angie_payload_direction direction);
+
+/* ANGIE command queue helper functions */
+static int angie_get_queue_size(struct angie *device,
+		enum angie_payload_direction direction);
+static void angie_clear_queue(struct angie *device);
+static int angie_append_queue(struct angie *device, struct angie_cmd *angie_cmd);
+static int angie_execute_queued_commands(struct angie *device, int timeout_ms);
+
+static void angie_dump_queue(struct angie *device);
+
+static int angie_append_scan_cmd(struct angie *device,
+		enum scan_type scan_type,
+		int scan_size_bits,
+		uint8_t *tdi,
+		uint8_t *tdo_start,
+		uint8_t *tdo,
+		uint8_t tms_count_start,
+		uint8_t tms_sequence_start,
+		uint8_t tms_count_end,
+		uint8_t tms_sequence_end,
+		struct jtag_command *origin,
+		bool postprocess);
+static int angie_append_clock_tms_cmd(struct angie *device, uint8_t count,
+		uint8_t sequence);
+static int angie_append_clock_tck_cmd(struct angie *device, uint16_t count);
+static int angie_append_get_signals_cmd(struct angie *device);
+static int angie_append_set_signals_cmd(struct angie *device, uint8_t low,
+		uint8_t high);
+static int angie_append_sleep_cmd(struct angie *device, uint32_t us);
+static int angie_append_configure_tck_cmd(struct angie *device,
+		int delay_scan_in,
+		int delay_scan_out,
+		int delay_scan_io,
+		int delay_tck,
+		int delay_tms);
+static int angie_append_test_cmd(struct angie *device);
+
+/* ANGIE TCK frequency helper functions */
+static int angie_calculate_delay(enum angie_delay_type type, long f, int *delay);
+
+/* Interface between ANGIE and OpenOCD */
+static void angie_set_end_state(tap_state_t endstate);
+static int angie_queue_statemove(struct angie *device);
+
+static int angie_queue_scan(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_tlr_reset(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_runtest(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_pathmove(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_sleep(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_stableclocks(struct angie *device, struct jtag_command *cmd);
+
+static int angie_post_process_scan(struct angie_cmd *angie_cmd);
+static int angie_post_process_queue(struct angie *device);
+
+/* adapter driver functions */
+static int angie_execute_queue(void);
+static int angie_khz(int khz, int *jtag_speed);
+static int angie_speed(int speed);
+static int angie_speed_div(int speed, int *khz);
+static int angie_init(void);
+static int angie_quit(void);
+static int angie_reset(int trst, int srst);
+
+/****************************** Global Variables ******************************/
+
+static struct angie *angie_handle;
+
+/**************************** USB helper functions ****************************/
+
+/**
+ * Opens the ANGIE device
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_usb_open(struct angie *device)
+{
+	struct libusb_device_handle *usb_device_handle;
+	const uint16_t vids[] = {ANGIE_VID, ANGIE_VID, 0};
+	const uint16_t pids[] = {ANGIE_PID, ANGIE_PID_2, 0};
+
+	int ret = jtag_libusb_open(vids, pids, &usb_device_handle, NULL);
+
+	if (ret != ERROR_OK)
+		return ret;
+
+	device->usb_device_handle = usb_device_handle;
+	device->type = ANGIE;
+
+	return ERROR_OK;
+}
+
+/**
+ * Releases the ANGIE interface and closes the USB device handle.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_usb_close(struct angie *device)
+{
+	if (device->usb_device_handle) {
+		if (libusb_release_interface(device->usb_device_handle, 0) != 0)
+			return ERROR_FAIL;
+
+		jtag_libusb_close(device->usb_device_handle);
+		device->usb_device_handle = NULL;
+	}
+	return ERROR_OK;
+}
+
+/******************* ANGIE CPU (EZ-USB) specific functions ********************/
+
+/**
+ * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
+ * or out of reset.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_cpu_reset(struct angie *device, char reset_bit)
+{
+	return jtag_libusb_control_transfer(device->usb_device_handle,
+			(LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
+			REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, LIBUSB_TIMEOUT_MS, NULL);
+}
+
+/**
+ * Puts the ANGIE's EZ-USB microcontroller into reset state, downloads
+ * the firmware image, resumes the microcontroller and re-enumerates
+ * USB devices.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ *  The usb_handle member will be modified during re-enumeration.
+ * @param filename path to the Intel HEX file containing the firmware image.
+ * @param delay_us the delay to wait for the device to re-enumerate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_load_firmware_and_renumerate(struct angie *device,
+	const char *filename, uint32_t delay_us)
+{
+	int ret;
+
+	/* Basic process: After downloading the firmware, the ANGIE will disconnect
+	 * itself and re-connect after a short amount of time so we have to close
+	 * the handle and re-enumerate USB devices */
+
+	ret = angie_load_firmware(device, filename);
+	if (ret != ERROR_OK)
+		return ret;
+
+	ret = angie_usb_close(device);
+	if (ret != ERROR_OK)
+		return ret;
+
+	usleep(delay_us);
+
+	return angie_usb_open(device);
+}
+
+/**
+ * Downloads a firmware image to the ANGIE's EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param filename an absolute or relative path to the Intel HEX file
+ *  containing the firmware image.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_load_firmware(struct angie *device, const char *filename)
+{
+	struct image angie_firmware_image;
+	int ret;
+
+	ret = angie_cpu_reset(device, CPU_RESET);
+	if (ret != ERROR_OK) {
+		LOG_ERROR("Could not halt ANGIE CPU");
+		return ret;
+	}
+
+	angie_firmware_image.base_address = 0;
+	angie_firmware_image.base_address_set = false;
+
+	ret = image_open(&angie_firmware_image, filename, "bin");
+	if (ret != ERROR_OK) {
+		LOG_ERROR("Could not load firmware image");
+		return ret;
+	}
+
+	/* Download all sections in the image to ANGIE */
+	for (unsigned int i = 0; i < angie_firmware_image.num_sections; i++) {
+		ret = angie_write_firmware_section(device, &angie_firmware_image, i);
+		if (ret != ERROR_OK)
+			return ret;
+	}
+
+	image_close(&angie_firmware_image);
+
+	ret = angie_cpu_reset(device, CPU_START);
+	if (ret != ERROR_OK) {
+		LOG_ERROR("Could not restart ANGIE CPU");
+		return ret;
+	}
+
+	return ERROR_OK;
+}
+
+/**
+ * Downloads a bitstream file to the ANGIE's FPGA through the EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param filename an absolute or relative path to the Xilinx .bit file
+ *  containing the bitstream data.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_load_bitstream(struct angie *device, const char *filename)
+{
+	int ret, transferred;
+	const char *bitstream_file_path = filename;
+	FILE *bitstream_file = NULL;
+	char *bitstream_data = NULL;
+	size_t bitstream_size = 0;
+
+	/* CFGopen */
+	ret = jtag_libusb_control_transfer(device->usb_device_handle,
+		0x00, 0xB0, 0, 0, NULL, 0, LIBUSB_TIMEOUT_MS, &transferred);
+	if (ret != ERROR_OK) {
+		LOG_ERROR("Failed opencfg");
+		/* Abort if libusb sent less data than requested */
+		return ERROR_FAIL;
+	}
+
+	/* Open the bitstream file */
+	bitstream_file = fopen(bitstream_file_path, "rb");
+	if (!bitstream_file) {
+		LOG_ERROR("Failed to open bitstream file: %s\n", bitstream_file_path);
+		return ERROR_FAIL;
+	}
+
+	/* Get the size of the bitstream file */
+	fseek(bitstream_file, 0, SEEK_END);
+	bitstream_size = ftell(bitstream_file);
+	fseek(bitstream_file, 0, SEEK_SET);
+
+	/* Allocate memory for the bitstream data */
+	bitstream_data = malloc(bitstream_size);
+	if (!bitstream_data) {
+		LOG_ERROR("Failed to allocate memory for bitstream data.");
+		fclose(bitstream_file);
+		return ERROR_FAIL;
+	}
+
+	/* Read the bitstream data from the file */
+	if (fread(bitstream_data, 1, bitstream_size, bitstream_file) != bitstream_size) {
+		LOG_ERROR("Failed to read bitstream data.");
+		free(bitstream_data);
+		fclose(bitstream_file);
+		return ERROR_FAIL;
+	}
+
+	/* Send the bitstream data to the microcontroller */
+	int actual_length = 0;
+	ret = jtag_libusb_bulk_write(device->usb_device_handle, 0x02, bitstream_data, bitstream_size, 1000, &actual_length);
+	if (ret != ERROR_OK) {
+		LOG_ERROR("Failed to send bitstream data: %s", libusb_strerror(ret));
+		free(bitstream_data);
+		fclose(bitstream_file);
+		return ERROR_FAIL;
+	}
+
+	LOG_INFO("Bitstream sent successfully.");
+
+	/* Clean up */
+	free(bitstream_data);
+	fclose(bitstream_file);
+
+	/* CFGclose */
+	transferred = 0;
+	ret = jtag_libusb_control_transfer(device->usb_device_handle,
+		0x00, 0xB1, 0, 0, NULL, 0, LIBUSB_TIMEOUT_MS, &transferred);
+	if (ret != ERROR_OK) {
+		LOG_INFO("error cfgclose");
+		/* Abort if libusb sent less data than requested */
+		return ERROR_FAIL;
+	}
+	return ERROR_OK;
+}
+
+/**
+ * Send one contiguous firmware section to the ANGIE's EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param firmware_image pointer to the firmware image that contains the section
+ *  which should be sent to the ANGIE's EZ-USB microcontroller.
+ * @param section_index index of the section within the firmware image.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_write_firmware_section(struct angie *device,
+	struct image *firmware_image, int section_index)
+{
+	int addr, bytes_remaining, chunk_size;
+	uint8_t data[SECTION_BUFFERSIZE];
+	uint8_t *data_ptr = data;
+	uint16_t size;
+	size_t size_read;
+	int ret, transferred;
+
+	size = (uint16_t)firmware_image->sections[section_index].size;
+	addr = (uint16_t)firmware_image->sections[section_index].base_address;
+
+	LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04" PRIx16 ")", section_index, addr,
+		size);
+
+	/* Copy section contents to local buffer */
+	ret = image_read_section(firmware_image, section_index, 0, size, data,
+			&size_read);
+
+	if (ret != ERROR_OK)
+		return ret;
+	if (size_read != size)
+		return ERROR_FAIL;
+
+	bytes_remaining = size;
+
+	/* Send section data in chunks of up to 64 bytes to ANGIE */
+	while (bytes_remaining > 0) {
+		if (bytes_remaining > 64)
+			chunk_size = 64;
+		else
+			chunk_size = bytes_remaining;
+
+		ret = jtag_libusb_control_transfer(device->usb_device_handle,
+				(LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
+				REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
+				chunk_size, LIBUSB_TIMEOUT_MS, &transferred);
+
+		if (ret != ERROR_OK)
+			return ret;
+
+		if (transferred != chunk_size) {
+			/* Abort if libusb sent less data than requested */
+			return ERROR_FAIL;
+		}
+
+		bytes_remaining -= chunk_size;
+		addr += chunk_size;
+		data_ptr += chunk_size;
+	}
+
+	return ERROR_OK;
+}
+
+/************************** Generic helper functions **************************/
+
+/**
+ * Print state of interesting signals via LOG_INFO().
+ *
+ * @param input_signals input signal states as returned by CMD_GET_SIGNALS
+ * @param output_signals output signal states as returned by CMD_GET_SIGNALS
+ */
+static void angie_dump_signal_states(uint8_t input_signals, uint8_t output_signals)
+{
+	LOG_INFO("ANGIE signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i "
+		"SRST: %i",
+		(output_signals & SIGNAL_TDI   ? 1 : 0),
+		(input_signals  & SIGNAL_TDO   ? 1 : 0),
+		(output_signals & SIGNAL_TMS   ? 1 : 0),
+		(output_signals & SIGNAL_TCK   ? 1 : 0),
+		(output_signals & SIGNAL_TRST  ? 1 : 0),
+		(output_signals & SIGNAL_SRST  ? 1 : 0));
+}
+
+/**************** ANGIE command generation helper functions ***************/
+
+/**
+ * Allocate and initialize space in memory for ANGIE command payload.
+ *
+ * @param angie_cmd pointer to command whose payload should be allocated.
+ * @param size the amount of memory to allocate (bytes).
+ * @param direction which payload to allocate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_allocate_payload(struct angie_cmd *angie_cmd, int size,
+	enum angie_payload_direction direction)
+{
+	uint8_t *payload;
+
+	payload = calloc(size, sizeof(uint8_t));
+
+	if (!payload) {
+		LOG_ERROR("Could not allocate ANGIE command payload: out of memory");
+		return ERROR_FAIL;
+	}
+
+	switch (direction) {
+	    case PAYLOAD_DIRECTION_OUT:
+		    if (angie_cmd->payload_out) {
+			    LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
+			    free(payload);
+			    return ERROR_FAIL;
+		    }
+			angie_cmd->payload_out = payload;
+			angie_cmd->payload_out_size = size;
+		    break;
+	    case PAYLOAD_DIRECTION_IN:
+		    if (angie_cmd->payload_in_start) {
+			    LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
+			    free(payload);
+			    return ERROR_FAIL;
+		    }
+
+			angie_cmd->payload_in_start = payload;
+		    angie_cmd->payload_in = payload;
+		    angie_cmd->payload_in_size = size;
+
+			/* By default, free payload_in_start in angie_clear_queue(). Commands
+			 * that do not want this behavior (e. g. split scans) must turn it off
+			 * separately! */
+		    angie_cmd->free_payload_in_start = true;
+
+		    break;
+	}
+
+	return ERROR_OK;
+}
+
+/****************** ANGIE command queue helper functions ******************/
+
+/**
+ * Get the current number of bytes in the queue, including command IDs.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param direction the transfer direction for which to get byte count.
+ * @return the number of bytes currently stored in the queue for the specified
+ *  direction.
+ */
+static int angie_get_queue_size(struct angie *device,
+	enum angie_payload_direction direction)
+{
+	struct angie_cmd *current = device->queue_start;
+	int sum = 0;
+
+	while (current) {
+		switch (direction) {
+		    case PAYLOAD_DIRECTION_OUT:
+			    sum += current->payload_out_size + 1;	/* + 1 byte for Command ID */
+			    break;
+		    case PAYLOAD_DIRECTION_IN:
+			    sum += current->payload_in_size;
+			    break;
+		}
+
+		current = current->next;
+	}
+
+	return sum;
+}
+
+/**
+ * Clear the ANGIE command queue.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ */
+static void angie_clear_queue(struct angie *device)
+{
+	struct angie_cmd *current = device->queue_start;
+	struct angie_cmd *next = NULL;
+
+	while (current) {
+		/* Save pointer to next element */
+		next = current->next;
+
+		/* Free payloads: OUT payload can be freed immediately */
+		free(current->payload_out);
+		current->payload_out = NULL;
+
+		/* IN payload MUST be freed ONLY if no other commands use the
+		 * payload_in_start buffer */
+		if (current->free_payload_in_start) {
+			free(current->payload_in_start);
+			current->payload_in_start = NULL;
+			current->payload_in = NULL;
+		}
+
+		/* Free queue element */
+		free(current);
+
+		/* Proceed with next element */
+		current = next;
+	}
+
+	device->commands_in_queue = 0;
+	device->queue_start = NULL;
+	device->queue_end = NULL;
+}
+
+/**
+ * Add a command to the ANGIE command queue.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param angie_cmd pointer to command that shall be appended to the ANGIE
+ *  command queue.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_queue(struct angie *device, struct angie_cmd *angie_cmd)
+{
+	int newsize_out, newsize_in;
+	int ret = ERROR_OK;
+
+	newsize_out = angie_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
+		+ angie_cmd->payload_out_size;
+
+	newsize_in = angie_get_queue_size(device, PAYLOAD_DIRECTION_IN)
+		+ angie_cmd->payload_in_size;
+
+	/* Check if the current command can be appended to the queue */
+	if (newsize_out > 64 || newsize_in > 64) {
+		/* New command does not fit. Execute all commands in queue before starting
+		 * new queue with the current command as first entry. */
+		ret = angie_execute_queued_commands(device, LIBUSB_TIMEOUT_MS);
+
+		if (ret == ERROR_OK)
+			ret = angie_post_process_queue(device);
+
+		if (ret == ERROR_OK)
+			angie_clear_queue(device);
+	}
+
+	if (!device->queue_start) {
+		/* Queue was empty */
+		device->commands_in_queue = 1;
+
+		device->queue_start = angie_cmd;
+		device->queue_end = angie_cmd;
+	} else {
+		/* There are already commands in the queue */
+		device->commands_in_queue++;
+
+		device->queue_end->next = angie_cmd;
+		device->queue_end = angie_cmd;
+	}
+
+	if (ret != ERROR_OK)
+		angie_clear_queue(device);
+
+	return ret;
+}
+
+/**
+ * Sends all queued ANGIE commands to the ANGIE for execution.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param timeout_ms
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_execute_queued_commands(struct angie *device, int timeout_ms)
+{
+	struct angie_cmd *current;
+	int ret, i, index_out, index_in, count_out, count_in, transferred;
+	uint8_t buffer[64];
+
+	if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
+		angie_dump_queue(device);
+
+	index_out = 0;
+	count_out = 0;
+	count_in = 0;
+
+	for (current = device->queue_start; current; current = current->next) {
+		/* Add command to packet */
+		buffer[index_out] = current->id;
+		index_out++;
+		count_out++;
+
+		for (i = 0; i < current->payload_out_size; i++)
+			buffer[index_out + i] = current->payload_out[i];
+		index_out += current->payload_out_size;
+		count_in += current->payload_in_size;
+		count_out += current->payload_out_size;
+	}
+
+	/* Send packet to ANGIE */
+	ret = jtag_libusb_bulk_write(device->usb_device_handle, device->ep_out,
+			(char *)buffer, count_out, timeout_ms, &transferred);
+	if (ret != ERROR_OK)
+		return ret;
+	if (transferred != count_out)
+		return ERROR_FAIL;
+
+	/* Wait for response if commands contain IN payload data */
+	if (count_in > 0) {
+		ret = jtag_libusb_bulk_write(device->usb_device_handle, device->ep_in,
+				(char *)buffer, count_in, timeout_ms, &transferred);
+		if (ret != ERROR_OK)
+			return ret;
+		if (transferred != count_in)
+			return ERROR_FAIL;
+
+		/* Write back IN payload data */
+		index_in = 0;
+		for (current = device->queue_start; current; current = current->next) {
+			for (i = 0; i < current->payload_in_size; i++) {
+				current->payload_in[i] = buffer[index_in];
+				index_in++;
+			}
+		}
+	}
+	return ERROR_OK;
+}
+
+/**
+ * Convert an ANGIE command ID (\a id) to a human-readable string.
+ *
+ * @param id the ANGIE command ID.
+ * @return the corresponding human-readable string.
+ */
+static const char *angie_cmd_id_string(uint8_t id)
+{
+	switch (id) {
+	case CMD_SCAN_IN:
+		return "CMD_SCAN_IN";
+	case CMD_SLOW_SCAN_IN:
+		return "CMD_SLOW_SCAN_IN";
+	case CMD_SCAN_OUT:
+		return "CMD_SCAN_OUT";
+	case CMD_SLOW_SCAN_OUT:
+		return "CMD_SLOW_SCAN_OUT";
+	case CMD_SCAN_IO:
+		return "CMD_SCAN_IO";
+	case CMD_SLOW_SCAN_IO:
+		return "CMD_SLOW_SCAN_IO";
+	case CMD_CLOCK_TMS:
+		return "CMD_CLOCK_TMS";
+	case CMD_SLOW_CLOCK_TMS:
+		return "CMD_SLOW_CLOCK_TMS";
+	case CMD_CLOCK_TCK:
+		return "CMD_CLOCK_TCK";
+	case CMD_SLOW_CLOCK_TCK:
+		return "CMD_SLOW_CLOCK_TCK";
+	case CMD_SLEEP_US:
+		return "CMD_SLEEP_US";
+	case CMD_SLEEP_MS:
+		return "CMD_SLEEP_MS";
+	case CMD_GET_SIGNALS:
+		return "CMD_GET_SIGNALS";
+	case CMD_SET_SIGNALS:
+		return "CMD_SET_SIGNALS";
+	case CMD_CONFIGURE_TCK_FREQ:
+		return "CMD_CONFIGURE_TCK_FREQ";
+	case CMD_SET_LEDS:
+		return "CMD_SET_LEDS";
+	case CMD_TEST:
+		return "CMD_TEST";
+	default:
+		return "CMD_UNKNOWN";
+	}
+}
+
+/**
+ * Print one ANGIE command to stdout.
+ *
+ * @param angie_cmd pointer to ANGIE command.
+ */
+static void angie_dump_command(struct angie_cmd *angie_cmd)
+{
+	char hex[64 * 3];
+	for (int i = 0; i < angie_cmd->payload_out_size; i++)
+		sprintf(hex + 3 * i, "%02" PRIX8 " ", angie_cmd->payload_out[i]);
+
+	hex[3 * angie_cmd->payload_out_size - 1] = 0;
+	LOG_DEBUG_IO(" %-22s | OUT size = %" PRIi8 ", bytes = %s",
+					angie_cmd_id_string(angie_cmd->id), angie_cmd->payload_out_size, hex);
+
+	LOG_DEBUG_IO("\n                         | IN size  =  %" PRIi8 "\n", angie_cmd->payload_in_size);
+}
+
+/**
+ * Print the ANGIE command queue to stdout.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ */
+static void angie_dump_queue(struct angie *device)
+{
+	struct angie_cmd *current;
+
+	LOG_DEBUG_IO("ANGIE command queue:\n");
+
+	for (current = device->queue_start; current; current = current->next)
+		angie_dump_command(current);
+}
+
+/**
+ * Perform JTAG scan
+ *
+ * Creates and appends a JTAG scan command to the ANGIE command queue.
+ * A JTAG scan consists of three steps:
+ * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
+ * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
+ * - Move to the desired end state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
+ * @param scan_size_bits number of bits to shift into the JTAG chain.
+ * @param tdi pointer to array containing TDI data.
+ * @param tdo_start pointer to first element of array where TDO data shall be
+ *  stored. See #angie_cmd for details.
+ * @param tdo pointer to array where TDO data shall be stored
+ * @param tms_count_start number of TMS state transitions to perform BEFORE
+ *  shifting data into the JTAG chain.
+ * @param tms_sequence_start sequence of TMS state transitions that will be
+ *  performed BEFORE shifting data into the JTAG chain.
+ * @param tms_count_end number of TMS state transitions to perform AFTER
+ *  shifting data into the JTAG chain.
+ * @param tms_sequence_end sequence of TMS state transitions that will be
+ *  performed AFTER shifting data into the JTAG chain.
+ * @param origin pointer to OpenOCD command that generated this scan command.
+ * @param postprocess whether this command needs to be post-processed after
+ *  execution.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_scan_cmd(struct angie *device, enum scan_type scan_type,
+	int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
+	uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
+	uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret, i, scan_size_bytes;
+	uint8_t bits_last_byte;
+
+	if (!cmd)
+		return ERROR_FAIL;
+
+	/* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
+	 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
+	if (scan_size_bits > (58 * 8)) {
+		LOG_ERROR("BUG: Tried to create CMD_SCAN_IO ANGIE command with too"
+			" large payload");
+		free(cmd);
+		return ERROR_FAIL;
+	}
+
+	scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
+
+	bits_last_byte = scan_size_bits % 8;
+	if (bits_last_byte == 0)
+		bits_last_byte = 8;
+
+	/* Allocate out_payload depending on scan type */
+	switch (scan_type) {
+	    case SCAN_IN:
+		    if (device->delay_scan_in < 0)
+			    cmd->id = CMD_SCAN_IN;
+		    else
+			    cmd->id = CMD_SLOW_SCAN_IN;
+		    ret = angie_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_IN);
+		    break;
+	    case SCAN_OUT:
+		    if (device->delay_scan_out < 0)
+			    cmd->id = CMD_SCAN_OUT;
+		    else
+			    cmd->id = CMD_SLOW_SCAN_OUT;
+		    ret = angie_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
+		    break;
+	    case SCAN_IO:
+		    if (device->delay_scan_io < 0)
+			    cmd->id = CMD_SCAN_IO;
+		    else
+			    cmd->id = CMD_SLOW_SCAN_IO;
+		    ret = angie_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
+		    break;
+	    default:
+		    LOG_ERROR("BUG: 'append scan cmd' encountered an unknown scan type");
+		    ret = ERROR_FAIL;
+		    break;
+	}
+
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	/* Build payload_out that is common to all scan types */
+	cmd->payload_out[0] = scan_size_bytes & 0xFF;
+	cmd->payload_out[1] = bits_last_byte & 0xFF;
+	cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
+	cmd->payload_out[3] = tms_sequence_start;
+	cmd->payload_out[4] = tms_sequence_end;
+
+	/* Setup payload_out for types with OUT transfer */
+	if (scan_type == SCAN_OUT || scan_type == SCAN_IO) {
+		for (i = 0; i < scan_size_bytes; i++)
+			cmd->payload_out[i + 5] = tdi[i];
+	}
+
+	/* Setup payload_in pointers for types with IN transfer */
+	if (scan_type == SCAN_IN || scan_type == SCAN_IO) {
+		cmd->payload_in_start = tdo_start;
+		cmd->payload_in = tdo;
+		cmd->payload_in_size = scan_size_bytes;
+	}
+
+	cmd->needs_postprocessing = postprocess;
+	cmd->cmd_origin = origin;
+
+	/* For scan commands, we free payload_in_start only when the command is
+	 * the last in a series of split commands or a stand-alone command */
+	cmd->free_payload_in_start = postprocess;
+
+	return angie_append_queue(device, cmd);
+}
+
+/**
+ * Perform TAP state transitions
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param count defines the number of TCK clock cycles generated (up to 8).
+ * @param sequence defines the TMS pin levels for each state transition. The
+ *  Least-Significant Bit is read first.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_clock_tms_cmd(struct angie *device, uint8_t count,
+	uint8_t sequence)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret;
+
+	if (!cmd) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	if (device->delay_clock_tms < 0)
+		cmd->id = CMD_CLOCK_TMS;
+	else
+		cmd->id = CMD_SLOW_CLOCK_TMS;
+
+	/* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
+	ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	cmd->payload_out[0] = count;
+	cmd->payload_out[1] = sequence;
+
+	return angie_append_queue(device, cmd);
+}
+
+/**
+ * Generate a defined amount of TCK clock cycles
+ *
+ * All other JTAG signals are left unchanged.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param count the number of TCK clock cycles to generate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_clock_tck_cmd(struct angie *device, uint16_t count)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret;
+
+	if (!cmd) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	if (device->delay_clock_tck < 0)
+		cmd->id = CMD_CLOCK_TCK;
+	else
+		cmd->id = CMD_SLOW_CLOCK_TCK;
+
+	/* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
+	ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	cmd->payload_out[0] = count & 0xff;
+	cmd->payload_out[1] = (count >> 8) & 0xff;
+
+	return angie_append_queue(device, cmd);
+}
+
+/**
+ * Read JTAG signals.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_get_signals_cmd(struct angie *device)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret;
+
+	if (!cmd) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	cmd->id = CMD_GET_SIGNALS;
+	cmd->needs_postprocessing = true;
+
+	/* CMD_GET_SIGNALS has two IN payload bytes */
+	ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
+
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	return angie_append_queue(device, cmd);
+}
+
+/**
+ * Arbitrarily set JTAG output signals.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param low defines which signals will be de-asserted. Each bit corresponds
+ *  to a JTAG signal:
+ *  - SIGNAL_TDI
+ *  - SIGNAL_TMS
+ *  - SIGNAL_TCK
+ *  - SIGNAL_TRST
+ *  - SIGNAL_BRKIN
+ *  - SIGNAL_RESET
+ *  - SIGNAL_OCDSE
+ * @param high defines which signals will be asserted.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_set_signals_cmd(struct angie *device, uint8_t low,
+	uint8_t high)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret;
+
+	if (!cmd) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	cmd->id = CMD_SET_SIGNALS;
+
+	/* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
+	ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	cmd->payload_out[0] = low;
+	cmd->payload_out[1] = high;
+
+	return angie_append_queue(device, cmd);
+}
+
+/**
+ * Sleep for a pre-defined number of microseconds
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param us the number microseconds to sleep.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_sleep_cmd(struct angie *device, uint32_t us)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret;
+
+	if (!cmd) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	cmd->id = CMD_SLEEP_US;
+
+	/* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
+	ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	cmd->payload_out[0] = us & 0x00ff;
+	cmd->payload_out[1] = (us >> 8) & 0x00ff;
+
+	return angie_append_queue(device, cmd);
+}
+
+/**
+ * Set TCK delay counters
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
+ * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
+ * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
+ * @param delay_tck delay count top value in jtag_clock_tck() function.
+ * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_configure_tck_cmd(struct angie *device, int delay_scan_in,
+	int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret;
+
+	if (!cmd) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	cmd->id = CMD_CONFIGURE_TCK_FREQ;
+
+	/* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
+	 * IN payload bytes */
+	ret = angie_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	if (delay_scan_in < 0)
+		cmd->payload_out[0] = 0;
+	else
+		cmd->payload_out[0] = (uint8_t)delay_scan_in;
+
+	if (delay_scan_out < 0)
+		cmd->payload_out[1] = 0;
+	else
+		cmd->payload_out[1] = (uint8_t)delay_scan_out;
+
+	if (delay_scan_io < 0)
+		cmd->payload_out[2] = 0;
+	else
+		cmd->payload_out[2] = (uint8_t)delay_scan_io;
+
+	if (delay_tck < 0)
+		cmd->payload_out[3] = 0;
+	else
+		cmd->payload_out[3] = (uint8_t)delay_tck;
+
+	if (delay_tms < 0)
+		cmd->payload_out[4] = 0;
+	else
+		cmd->payload_out[4] = (uint8_t)delay_tms;
+
+	return angie_append_queue(device, cmd);
+}
+
+/**
+ * Test command. Used to check if the ANGIE device is ready to accept new
+ * commands.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_test_cmd(struct angie *device)
+{
+	struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+	int ret;
+
+	if (!cmd) {
+		LOG_ERROR("Out of memory");
+		return ERROR_FAIL;
+	}
+
+	cmd->id = CMD_TEST;
+
+	/* CMD_TEST has one OUT payload byte and zero IN payload bytes */
+	ret = angie_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
+	if (ret != ERROR_OK) {
+		free(cmd);
+		return ret;
+	}
+
+	cmd->payload_out[0] = 0xAA;
+
+	return angie_append_queue(device, cmd);
+}
+
+/****************** ANGIE TCK frequency helper functions ******************/
+
+/**
+ * Calculate delay values for a given TCK frequency.
+ *
+ * The ANGIE firmware uses five different speed values for different
+ * commands. These speed values are calculated in these functions.
+ *
+ * The five different commands which support variable TCK frequency are
+ * implemented twice in the firmware:
+ *   1. Maximum possible frequency without any artificial delay
+ *   2. Variable frequency with artificial linear delay loop
+ *
+ * To set the ANGIE to maximum frequency, it is only necessary to use the
+ * corresponding command IDs. To set the ANGIE to a lower frequency, the
+ * delay loop top values have to be calculated first. Then, a
+ * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ANGIE device.
+ *
+ * The delay values are described by linear equations:
+ *    t = k * x + d
+ *    (t = period, k = constant, x = delay value, d = constant)
+ *
+ * Thus, the delay can be calculated as in the following equation:
+ *    x = (t - d) / k
+ *
+ * The constants in these equations have been determined and validated by
+ * measuring the frequency resulting from different delay values.
+ *
+ * @param type for which command to calculate the delay value.
+ * @param f TCK frequency for which to calculate the delay value in Hz.
+ * @param delay where to store resulting delay value.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_calculate_delay(enum angie_delay_type type, long f, int *delay)
+{
+	float t_us, x, x_ceil;
+
+	/* Calculate period of requested TCK frequency */
+	t_us = 1000000.0 / f;
+
+	switch (type) {
+	    case DELAY_CLOCK_TCK:
+		    x = (t_us - 6.0) / 4;
+		    break;
+	    case DELAY_CLOCK_TMS:
+		    x = (t_us - 8.5) / 4;
+		    break;
+	    case DELAY_SCAN_IN:
+		    x = (t_us - 8.8308) / 4;
+		    break;
+	    case DELAY_SCAN_OUT:
+		    x = (t_us - 10.527) / 4;
+		    break;
+	    case DELAY_SCAN_IO:
+		    x = (t_us - 13.132) / 4;
+		    break;
+	    default:
+		    return ERROR_FAIL;
+		    break;
+	}
+
+	/* Check if the delay value is negative. This happens when a frequency is
+	 * requested that is too high for the delay loop implementation. In this
+	 * case, set delay value to zero. */
+	if (x < 0)
+		x = 0;
+
+	/* We need to convert the exact delay value to an integer. Therefore, we
+	 * round the exact value UP to ensure that the resulting frequency is NOT
+	 * higher than the requested frequency. */
+	x_ceil = ceilf(x);
+
+	/* Check if the value is within limits */
+	if (x_ceil > 255)
+		return ERROR_FAIL;
+
+	*delay = (int)x_ceil;
+
+	return ERROR_OK;
+}
+
+/**
+ * Calculate frequency for a given delay value.
+ *
+ * Similar to the #angie_calculate_delay function, this function calculates the
+ * TCK frequency for a given delay value by using linear equations of the form:
+ *    t = k * x + d
+ *    (t = period, k = constant, x = delay value, d = constant)
+ *
+ * @param type for which command to calculate the delay value.
+ * @param delay value for which to calculate the resulting TCK frequency.
+ * @return the resulting TCK frequency
+ */
+static long angie_calculate_frequency(enum angie_delay_type type, int delay)
+{
+	float t_us, f_float;
+
+	if (delay > 255)
+		return 0;
+
+	switch (type) {
+	    case DELAY_CLOCK_TCK:
+		    if (delay < 0)
+			    t_us = 2.666;
+		    else
+			    t_us = (4.0 * delay) + 6.0;
+		    break;
+	    case DELAY_CLOCK_TMS:
+		    if (delay < 0)
+			    t_us = 5.666;
+		    else
+			    t_us = (4.0 * delay) + 8.5;
+		    break;
+	    case DELAY_SCAN_IN:
+		    if (delay < 0)
+			    t_us = 5.5;
+		    else
+			    t_us = (4.0 * delay) + 8.8308;
+		    break;
+	    case DELAY_SCAN_OUT:
+		    if (delay < 0)
+			    t_us = 7.0;
+		    else
+			    t_us = (4.0 * delay) + 10.527;
+		    break;
+	    case DELAY_SCAN_IO:
+		    if (delay < 0)
+			    t_us = 9.926;
+		    else
+			    t_us = (4.0 * delay) + 13.132;
+		    break;
+	    default:
+		    return 0;
+	}
+
+	f_float = 1000000.0 / t_us;
+	return roundf(f_float);
+}
+
+/******************* Interface between ANGIE and OpenOCD ******************/
+
+/**
+ * Sets the end state follower (see interface.h) if \a endstate is a stable
+ * state.
+ *
+ * @param endstate the state the end state follower should be set to.
+ */
+static void angie_set_end_state(tap_state_t endstate)
+{
+	if (tap_is_state_stable(endstate))
+		tap_set_end_state(endstate);
+	else
+		LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
+}
+
+/**
+ * Move from the current TAP state to the current TAP end state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_statemove(struct angie *device)
+{
+	uint8_t tms_sequence, tms_count;
+	int ret;
+
+	if (tap_get_state() == tap_get_end_state()) {
+		/* Do nothing if we are already there */
+		return ERROR_OK;
+	}
+
+	tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+	tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+
+	ret = angie_append_clock_tms_cmd(device, tms_count, tms_sequence);
+
+	if (ret == ERROR_OK)
+		tap_set_state(tap_get_end_state());
+
+	return ret;
+}
+
+/**
+ * Perform a scan operation on a JTAG register.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_scan(struct angie *device, struct jtag_command *cmd)
+{
+	uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
+	uint32_t scans_max_payload, bytecount;
+	uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
+	uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
+
+	uint8_t first_tms_count, first_tms_sequence;
+	uint8_t last_tms_count, last_tms_sequence;
+
+	uint8_t tms_count_pause, tms_sequence_pause;
+	uint8_t tms_count_resume, tms_sequence_resume;
+
+	uint8_t tms_count_start, tms_sequence_start;
+	uint8_t tms_count_end, tms_sequence_end;
+
+	enum scan_type type;
+	int ret;
+
+	/* Determine scan size */
+	scan_size_bits = jtag_scan_size(cmd->cmd.scan);
+	scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
+
+	/* Determine scan type (IN/OUT/IO) */
+	type = jtag_scan_type(cmd->cmd.scan);
+
+	/* Determine number of scan commands with maximum payload */
+	scans_max_payload = scan_size_bytes / 58;
+
+	/* Determine size of last shift command */
+	bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
+
+	/* Allocate TDO buffer if required */
+	if (type == SCAN_IN || type == SCAN_IO) {
+		tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
+
+		if (!tdo_buffer_start)
+			return ERROR_FAIL;
+
+		tdo_buffer = tdo_buffer_start;
+	}
+
+	/* Fill TDI buffer if required */
+	if (type == SCAN_OUT || type == SCAN_IO) {
+		jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
+		tdi_buffer = tdi_buffer_start;
+	}
+
+	/* Get TAP state transitions */
+	if (cmd->cmd.scan->ir_scan) {
+		angie_set_end_state(TAP_IRSHIFT);
+		first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+		first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+		tap_set_state(TAP_IRSHIFT);
+		tap_set_end_state(cmd->cmd.scan->end_state);
+		last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+		last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+		/* TAP state transitions for split scans */
+		tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
+		tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
+		tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
+		tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
+	} else {
+		angie_set_end_state(TAP_DRSHIFT);
+		first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+		first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+		tap_set_state(TAP_DRSHIFT);
+		tap_set_end_state(cmd->cmd.scan->end_state);
+		last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+		last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+		/* TAP state transitions for split scans */
+		tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
+		tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
+		tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
+		tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
+	}
+
+	/* Generate scan commands */
+	bytecount = scan_size_bytes;
+	while (bytecount > 0) {
+		if (bytecount == scan_size_bytes) {
+			/* This is the first scan */
+			tms_count_start = first_tms_count;
+			tms_sequence_start = first_tms_sequence;
+		} else {
+			/* Resume from previous scan */
+			tms_count_start = tms_count_resume;
+			tms_sequence_start = tms_sequence_resume;
+		}
+
+		if (bytecount > 58) {	/* Full scan, at least one scan will follow */
+			tms_count_end = tms_count_pause;
+			tms_sequence_end = tms_sequence_pause;
+
+			ret = angie_append_scan_cmd(device,
+					type,
+					58 * 8,
+					tdi_buffer,
+					tdo_buffer_start,
+					tdo_buffer,
+					tms_count_start,
+					tms_sequence_start,
+					tms_count_end,
+					tms_sequence_end,
+					cmd,
+					false);
+
+			bytecount -= 58;
+
+			/* Update TDI and TDO buffer pointers */
+			if (tdi_buffer_start)
+				tdi_buffer += 58;
+			if (tdo_buffer_start)
+				tdo_buffer += 58;
+		} else if (bytecount == 58) {	/* Full scan, no further scans */
+			tms_count_end = last_tms_count;
+			tms_sequence_end = last_tms_sequence;
+
+			ret = angie_append_scan_cmd(device,
+					type,
+					58 * 8,
+					tdi_buffer,
+					tdo_buffer_start,
+					tdo_buffer,
+					tms_count_start,
+					tms_sequence_start,
+					tms_count_end,
+					tms_sequence_end,
+					cmd,
+					true);
+
+			bytecount = 0;
+		} else {/* Scan with less than maximum payload, no further scans */
+			tms_count_end = last_tms_count;
+			tms_sequence_end = last_tms_sequence;
+
+			ret = angie_append_scan_cmd(device,
+					type,
+					bits_last_scan,
+					tdi_buffer,
+					tdo_buffer_start,
+					tdo_buffer,
+					tms_count_start,
+					tms_sequence_start,
+					tms_count_end,
+					tms_sequence_end,
+					cmd,
+					true);
+
+			bytecount = 0;
+		}
+
+		if (ret != ERROR_OK) {
+			free(tdi_buffer_start);
+			free(tdo_buffer_start);
+			return ret;
+		}
+	}
+
+	free(tdi_buffer_start);
+
+	/* Set current state to the end state requested by the command */
+	tap_set_state(cmd->cmd.scan->end_state);
+
+	return ERROR_OK;
+}
+
+/**
+ * Move the TAP into the Test Logic Reset state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_tlr_reset(struct angie *device, struct jtag_command *cmd)
+{
+	int ret = angie_append_clock_tms_cmd(device, 5, 0xff);
+
+	if (ret == ERROR_OK)
+		tap_set_state(TAP_RESET);
+
+	return ret;
+}
+
+/**
+ * Run Test.
+ *
+ * Generate TCK clock cycles while remaining
+ * in the Run-Test/Idle state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_runtest(struct angie *device, struct jtag_command *cmd)
+{
+	int ret;
+
+	/* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
+	if (tap_get_state() != TAP_IDLE) {
+		angie_set_end_state(TAP_IDLE);
+		angie_queue_statemove(device);
+	}
+
+	/* Generate the clock cycles */
+	ret = angie_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
+	if (ret != ERROR_OK)
+		return ret;
+
+	/* Move to end state specified in command */
+	if (cmd->cmd.runtest->end_state != tap_get_state()) {
+		tap_set_end_state(cmd->cmd.runtest->end_state);
+		angie_queue_statemove(device);
+	}
+
+	return ERROR_OK;
+}
+
+/**
+ * Execute a JTAG_RESET command
+ *
+ * @param device
+ * @param trst indicate if trst signal is activated.
+ * @param srst indicate if srst signal is activated.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_reset(int trst, int srst)
+{
+	struct angie *device = angie_handle;
+	uint8_t low = 0, high = 0;
+
+	if (trst) {
+		tap_set_state(TAP_RESET);
+		low |= SIGNAL_TRST;
+	} else {
+		high |= SIGNAL_TRST;
+	}
+
+	if (srst)
+		low |= SIGNAL_SRST;
+	else
+		high |= SIGNAL_SRST;
+
+	int ret = angie_append_set_signals_cmd(device, low, high);
+
+	ret = angie_execute_queued_commands(device, LIBUSB_TIMEOUT_MS);
+	if (ret == ERROR_OK)
+		angie_clear_queue(device);
+
+	return ret;
+}
+
+/**
+ * Move to one TAP state or several states in succession.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_pathmove(struct angie *device, struct jtag_command *cmd)
+{
+	int ret, i, num_states, batch_size, state_count;
+	tap_state_t *path;
+	uint8_t tms_sequence;
+
+	num_states = cmd->cmd.pathmove->num_states;
+	path = cmd->cmd.pathmove->path;
+	state_count = 0;
+
+	while (num_states > 0) {
+		tms_sequence = 0;
+
+		/* Determine batch size */
+		if (num_states >= 8)
+			batch_size = 8;
+		else
+			batch_size = num_states;
+
+		for (i = 0; i < batch_size; i++) {
+			if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
+				/* Append '0' transition: clear bit 'i' in tms_sequence */
+				buf_set_u32(&tms_sequence, i, 1, 0x0);
+			} else if (tap_state_transition(tap_get_state(), true)
+				   == path[state_count]) {
+				/* Append '1' transition: set bit 'i' in tms_sequence */
+				buf_set_u32(&tms_sequence, i, 1, 0x1);
+			} else {
+				/* Invalid state transition */
+				LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
+					tap_state_name(tap_get_state()),
+					tap_state_name(path[state_count]));
+				return ERROR_FAIL;
+			}
+
+			tap_set_state(path[state_count]);
+			state_count++;
+			num_states--;
+		}
+
+		/* Append CLOCK_TMS command to ANGIE command queue */
+		LOG_INFO("pathmove batch: count = %i, sequence = 0x%" PRIx8 "", batch_size, tms_sequence);
+		ret = angie_append_clock_tms_cmd(angie_handle, batch_size, tms_sequence);
+		if (ret != ERROR_OK)
+			return ret;
+	}
+
+	return ERROR_OK;
+}
+
+/**
+ * Sleep for a specific amount of time.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_sleep(struct angie *device, struct jtag_command *cmd)
+{
+	/* IMPORTANT! Due to the time offset in command execution introduced by
+	 * command queueing, this needs to be implemented in the ANGIE device */
+	return angie_append_sleep_cmd(device, cmd->cmd.sleep->us);
+}
+
+/**
+ * Generate TCK cycles while remaining in a stable state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ */
+static int angie_queue_stableclocks(struct angie *device, struct jtag_command *cmd)
+{
+	int ret;
+	unsigned int num_cycles;
+
+	if (!tap_is_state_stable(tap_get_state())) {
+		LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
+		return ERROR_FAIL;
+	}
+
+	num_cycles = cmd->cmd.stableclocks->num_cycles;
+
+	/* TMS stays either high (Test Logic Reset state) or low (all other states) */
+	if (tap_get_state() == TAP_RESET)
+		ret = angie_append_set_signals_cmd(device, 0, SIGNAL_TMS);
+	else
+		ret = angie_append_set_signals_cmd(device, SIGNAL_TMS, 0);
+
+	if (ret != ERROR_OK)
+		return ret;
+
+	while (num_cycles > 0) {
+		if (num_cycles > 0xFFFF) {
+			/* ANGIE CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
+			ret = angie_append_clock_tck_cmd(device, 0xFFFF);
+			num_cycles -= 0xFFFF;
+		} else {
+			ret = angie_append_clock_tck...
 
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