diff --git a/src/jtag/drivers/at91rm9200.c b/src/jtag/drivers/at91rm9200.c
index abaf3adb7..89d7000ca 100644
--- a/src/jtag/drivers/at91rm9200.c
+++ b/src/jtag/drivers/at91rm9200.c
@@ -126,6 +126,7 @@ struct jtag_interface at91rm9200_interface =
 {
 	.name = "at91rm9200",
 
+	.supported = DEBUG_CAP_TMS_SEQ,
 	.execute_queue = bitbang_execute_queue,
 
 	.speed = at91rm9200_speed,
diff --git a/src/jtag/drivers/bitbang.c b/src/jtag/drivers/bitbang.c
index 83c2d29ec..6159ef7a5 100644
--- a/src/jtag/drivers/bitbang.c
+++ b/src/jtag/drivers/bitbang.c
@@ -91,6 +91,31 @@ static void bitbang_state_move(int skip)
 	tap_set_state(tap_get_end_state());
 }
 
+
+/**
+ * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
+ * (or SWD) state machine.
+ */
+static int bitbang_execute_tms(struct jtag_command *cmd)
+{
+	unsigned	num_bits = cmd->cmd.tms->num_bits;
+	const uint8_t	*bits = cmd->cmd.tms->bits;
+
+	DEBUG_JTAG_IO("TMS: %d bits", num_bits);
+
+	int tms = 0;
+	for (unsigned i = 0; i < num_bits; i++)
+	{
+		tms = ((bits[i/8] >> (i % 8)) & 1);
+		bitbang_interface->write(0, tms, 0);
+		bitbang_interface->write(1, tms, 0);
+	}
+	bitbang_interface->write(CLOCK_IDLE(), tms, 0);
+
+	return ERROR_OK;
+}
+
+
 static void bitbang_path_move(struct pathmove_command *cmd)
 {
 	int num_states = cmd->num_states;
@@ -312,6 +337,9 @@ int bitbang_execute_queue(void)
 #endif
 				jtag_sleep(cmd->cmd.sleep->us);
 				break;
+			case JTAG_TMS:
+				retval = bitbang_execute_tms(cmd);
+				break;
 			default:
 				LOG_ERROR("BUG: unknown JTAG command type encountered");
 				exit(-1);
diff --git a/src/jtag/drivers/dummy.c b/src/jtag/drivers/dummy.c
index 1880712a8..7cb0e33c5 100644
--- a/src/jtag/drivers/dummy.c
+++ b/src/jtag/drivers/dummy.c
@@ -164,6 +164,7 @@ static const struct command_registration dummy_command_handlers[] = {
 struct jtag_interface dummy_interface = {
 		.name = "dummy",
 
+		.supported = DEBUG_CAP_TMS_SEQ,
 		.commands = dummy_command_handlers,
 
 		.execute_queue = &bitbang_execute_queue,
diff --git a/src/jtag/drivers/ep93xx.c b/src/jtag/drivers/ep93xx.c
index 61dc76ede..0959a5692 100644
--- a/src/jtag/drivers/ep93xx.c
+++ b/src/jtag/drivers/ep93xx.c
@@ -57,6 +57,7 @@ struct jtag_interface ep93xx_interface =
 {
 	.name = "ep93xx",
 
+	.supported = DEBUG_CAP_TMS_SEQ,
 	.execute_queue = bitbang_execute_queue,
 
 	.speed = ep93xx_speed,
diff --git a/src/jtag/drivers/parport.c b/src/jtag/drivers/parport.c
index fa3373b0c..2323ec56a 100644
--- a/src/jtag/drivers/parport.c
+++ b/src/jtag/drivers/parport.c
@@ -524,6 +524,7 @@ static const struct command_registration parport_command_handlers[] = {
 
 struct jtag_interface parport_interface = {
 	.name = "parport",
+	.supported = DEBUG_CAP_TMS_SEQ,
 	.commands = parport_command_handlers,
 
 	.init = parport_init,
diff --git a/src/jtag/drivers/usb_blaster.c b/src/jtag/drivers/usb_blaster.c
index 3703323bf..59c5715bd 100644
--- a/src/jtag/drivers/usb_blaster.c
+++ b/src/jtag/drivers/usb_blaster.c
@@ -580,6 +580,7 @@ static const struct command_registration usb_blaster_command_handlers[] = {
 struct jtag_interface usb_blaster_interface = {
 	.name = "usb_blaster",
 	.commands = usb_blaster_command_handlers,
+	.supported = DEBUG_CAP_TMS_SEQ,
 
 	.execute_queue = bitbang_execute_queue,