diff --git a/doc/openocd.texi b/doc/openocd.texi
index 3e56079fe..fc86429d1 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -3292,66 +3292,12 @@ able to coexist nicely with both sysfs bitbanging and various
 peripherals' kernel drivers. The driver restores the previous
 configuration on exit.
 
-GPIO numbers >= 32 can't be used for performance reasons.
+GPIO numbers >= 32 can't be used for performance reasons. GPIO configuration is
+handled by the generic command @ref{adapter gpio, @command{adapter gpio}}.
 
 See @file{interface/raspberrypi-native.cfg} for a sample config and
 pinout.
 
-@deffn {Config Command} {bcm2835gpio jtag_nums} @var{tck} @var{tms} @var{tdi} @var{tdo}
-Set JTAG transport GPIO numbers for TCK, TMS, TDI, and TDO (in that order).
-Must be specified to enable JTAG transport. These pins can also be specified
-individually.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio tck_num} @var{tck}
-Set TCK GPIO number. Must be specified to enable JTAG transport. Can also be
-specified using the configuration command @command{bcm2835gpio jtag_nums}.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio tms_num} @var{tms}
-Set TMS GPIO number. Must be specified to enable JTAG transport. Can also be
-specified using the configuration command @command{bcm2835gpio jtag_nums}.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio tdo_num} @var{tdo}
-Set TDO GPIO number. Must be specified to enable JTAG transport. Can also be
-specified using the configuration command @command{bcm2835gpio jtag_nums}.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio tdi_num} @var{tdi}
-Set TDI GPIO number. Must be specified to enable JTAG transport. Can also be
-specified using the configuration command @command{bcm2835gpio jtag_nums}.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio swd_nums} @var{swclk} @var{swdio}
-Set SWD transport GPIO numbers for SWCLK and SWDIO (in that order). Must be
-specified to enable SWD transport. These pins can also be specified individually.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio swclk_num} @var{swclk}
-Set SWCLK GPIO number. Must be specified to enable SWD transport. Can also be
-specified using the configuration command @command{bcm2835gpio swd_nums}.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio swdio_num} @var{swdio}
-Set SWDIO GPIO number. Must be specified to enable SWD transport. Can also be
-specified using the configuration command @command{bcm2835gpio swd_nums}.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio swdio_dir_num} @var{swdio} @var{dir}
-Set SWDIO direction control pin GPIO number. If specified, this pin can be used
-to control the direction of an external buffer on the SWDIO pin (set=output
-mode, clear=input mode). If not specified, this feature is disabled.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio srst_num} @var{srst}
-Set SRST GPIO number. Must be specified to enable SRST.
-@end deffn
-
-@deffn {Config Command} {bcm2835gpio trst_num} @var{trst}
-Set TRST GPIO number. Must be specified to enable TRST.
-@end deffn
-
 @deffn {Config Command} {bcm2835gpio speed_coeffs} @var{speed_coeff} @var{speed_offset}
 Set SPEED_COEFF and SPEED_OFFSET for delay calculations. If unspecified,
 speed_coeff defaults to 113714, and speed_offset defaults to 28.
diff --git a/src/jtag/drivers/bcm2835gpio.c b/src/jtag/drivers/bcm2835gpio.c
index 0bbbc6fce..f1538dda7 100644
--- a/src/jtag/drivers/bcm2835gpio.c
+++ b/src/jtag/drivers/bcm2835gpio.c
@@ -12,6 +12,7 @@
 #include "config.h"
 #endif
 
+#include <jtag/adapter.h>
 #include <jtag/interface.h>
 #include <transport/transport.h>
 #include "bitbang.h"
@@ -24,13 +25,17 @@ uint32_t bcm2835_peri_base = 0x20000000;
 #define BCM2835_PADS_GPIO_0_27		(bcm2835_peri_base + 0x100000)
 #define BCM2835_PADS_GPIO_0_27_OFFSET	(0x2c / 4)
 
+/* See "GPIO Function Select Registers (GPFSELn)" in "Broadcom BCM2835 ARM Peripherals" datasheet. */
+#define BCM2835_GPIO_MODE_INPUT 0
+#define BCM2835_GPIO_MODE_OUTPUT 1
+
 /* GPIO setup macros */
 #define MODE_GPIO(g) (*(pio_base+((g)/10))>>(((g)%10)*3) & 7)
 #define INP_GPIO(g) do { *(pio_base+((g)/10)) &= ~(7<<(((g)%10)*3)); } while (0)
 #define SET_MODE_GPIO(g, m) do { /* clear the mode bits first, then set as necessary */ \
 		INP_GPIO(g);						\
 		*(pio_base+((g)/10)) |=  ((m)<<(((g)%10)*3)); } while (0)
-#define OUT_GPIO(g) SET_MODE_GPIO(g, 1)
+#define OUT_GPIO(g) SET_MODE_GPIO(g, BCM2835_GPIO_MODE_OUTPUT)
 
 #define GPIO_SET (*(pio_base+7))  /* sets   bits which are 1, ignores bits which are 0 */
 #define GPIO_CLR (*(pio_base+10)) /* clears bits which are 1, ignores bits which are 0 */
@@ -40,64 +45,109 @@ static int dev_mem_fd;
 static volatile uint32_t *pio_base = MAP_FAILED;
 static volatile uint32_t *pads_base = MAP_FAILED;
 
-static bb_value_t bcm2835gpio_read(void);
-static int bcm2835gpio_write(int tck, int tms, int tdi);
-
-static int bcm2835_swdio_read(void);
-static void bcm2835_swdio_drive(bool is_output);
-static int bcm2835gpio_swd_write(int swclk, int swdio);
-
-static int bcm2835gpio_init(void);
-static int bcm2835gpio_quit(void);
-
-static struct bitbang_interface bcm2835gpio_bitbang = {
-	.read = bcm2835gpio_read,
-	.write = bcm2835gpio_write,
-	.swdio_read = bcm2835_swdio_read,
-	.swdio_drive = bcm2835_swdio_drive,
-	.swd_write = bcm2835gpio_swd_write,
-	.blink = NULL
-};
-
-/* GPIO numbers for each signal. Negative values are invalid */
-static int tck_gpio = -1;
-static int tck_gpio_mode;
-static int tms_gpio = -1;
-static int tms_gpio_mode;
-static int tdi_gpio = -1;
-static int tdi_gpio_mode;
-static int tdo_gpio = -1;
-static int tdo_gpio_mode;
-static int trst_gpio = -1;
-static int trst_gpio_mode;
-static int srst_gpio = -1;
-static int srst_gpio_mode;
-static int swclk_gpio = -1;
-static int swclk_gpio_mode;
-static int swdio_gpio = -1;
-static int swdio_gpio_mode;
-static int swdio_dir_gpio = -1;
-static int swdio_dir_gpio_mode;
-
 /* Transition delay coefficients */
 static int speed_coeff = 113714;
 static int speed_offset = 28;
 static unsigned int jtag_delay;
 
-static int is_gpio_valid(int gpio)
+static const struct adapter_gpio_config *adapter_gpio_config;
+static int initial_gpio_mode[ADAPTER_GPIO_IDX_NUM];
+
+static bool is_gpio_config_valid(enum adapter_gpio_config_index idx)
 {
-	return gpio >= 0 && gpio <= 31;
+	/* Only chip 0 is supported, accept unset value (-1) too */
+	return adapter_gpio_config[idx].chip_num >= -1
+		&& adapter_gpio_config[idx].chip_num <= 0
+		&& adapter_gpio_config[idx].gpio_num >= 0
+		&& adapter_gpio_config[idx].gpio_num <= 31;
+}
+
+static void set_gpio_value(const struct adapter_gpio_config *gpio_config, int value)
+{
+	value = value ^ (gpio_config->active_low ? 1 : 0);
+	switch (gpio_config->drive) {
+	case ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL:
+		if (value)
+			GPIO_SET = 1 << gpio_config->gpio_num;
+		else
+			GPIO_CLR = 1 << gpio_config->gpio_num;
+		/* For performance reasons assume the GPIO is already set as an output
+		 * and therefore the call can be omitted here.
+		 */
+		break;
+	case ADAPTER_GPIO_DRIVE_MODE_OPEN_DRAIN:
+		if (value) {
+			INP_GPIO(gpio_config->gpio_num);
+		} else {
+			GPIO_CLR = 1 << gpio_config->gpio_num;
+			OUT_GPIO(gpio_config->gpio_num);
+		}
+		break;
+	case ADAPTER_GPIO_DRIVE_MODE_OPEN_SOURCE:
+		if (value) {
+			GPIO_SET = 1 << gpio_config->gpio_num;
+			OUT_GPIO(gpio_config->gpio_num);
+		} else {
+			INP_GPIO(gpio_config->gpio_num);
+		}
+		break;
+	}
+}
+
+static void restore_gpio(enum adapter_gpio_config_index idx)
+{
+	if (is_gpio_config_valid(idx))
+		SET_MODE_GPIO(adapter_gpio_config[idx].gpio_num, initial_gpio_mode[idx]);
+}
+
+static void initialize_gpio(enum adapter_gpio_config_index idx)
+{
+	if (!is_gpio_config_valid(idx))
+		return;
+
+	initial_gpio_mode[idx] = MODE_GPIO(adapter_gpio_config[idx].gpio_num);
+	LOG_DEBUG("saved GPIO mode for %s (GPIO %d %d): %d",
+			adapter_gpio_get_name(idx), adapter_gpio_config[idx].chip_num, adapter_gpio_config[idx].gpio_num,
+			initial_gpio_mode[idx]);
+
+	if (adapter_gpio_config[idx].pull != ADAPTER_GPIO_PULL_NONE) {
+		LOG_WARNING("BCM2835 GPIO does not support pull-up or pull-down settings (signal %s)",
+			adapter_gpio_get_name(idx));
+	}
+
+	switch (adapter_gpio_config[idx].init_state) {
+	case ADAPTER_GPIO_INIT_STATE_INACTIVE:
+		set_gpio_value(&adapter_gpio_config[idx], 0);
+		break;
+	case ADAPTER_GPIO_INIT_STATE_ACTIVE:
+		set_gpio_value(&adapter_gpio_config[idx], 1);
+		break;
+	case ADAPTER_GPIO_INIT_STATE_INPUT:
+		INP_GPIO(adapter_gpio_config[idx].gpio_num);
+		break;
+	}
+
+	/* Direction for non push-pull is already set by set_gpio_value() */
+	if (adapter_gpio_config[idx].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL)
+		OUT_GPIO(adapter_gpio_config[idx].gpio_num);
 }
 
 static bb_value_t bcm2835gpio_read(void)
 {
-	return (GPIO_LEV & 1<<tdo_gpio) ? BB_HIGH : BB_LOW;
+	unsigned int shift = adapter_gpio_config[ADAPTER_GPIO_IDX_TDO].gpio_num;
+	uint32_t value = (GPIO_LEV >> shift) & 1;
+	return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_TDO].active_low ? BB_HIGH : BB_LOW);
+
 }
 
 static int bcm2835gpio_write(int tck, int tms, int tdi)
 {
-	uint32_t set = tck<<tck_gpio | tms<<tms_gpio | tdi<<tdi_gpio;
-	uint32_t clear = !tck<<tck_gpio | !tms<<tms_gpio | !tdi<<tdi_gpio;
+	uint32_t set = tck << adapter_gpio_config[ADAPTER_GPIO_IDX_TCK].gpio_num |
+			tms << adapter_gpio_config[ADAPTER_GPIO_IDX_TMS].gpio_num |
+			tdi << adapter_gpio_config[ADAPTER_GPIO_IDX_TDI].gpio_num;
+	uint32_t clear = !tck << adapter_gpio_config[ADAPTER_GPIO_IDX_TCK].gpio_num |
+			!tms << adapter_gpio_config[ADAPTER_GPIO_IDX_TMS].gpio_num |
+			!tdi << adapter_gpio_config[ADAPTER_GPIO_IDX_TDI].gpio_num;
 
 	GPIO_SET = set;
 	GPIO_CLR = clear;
@@ -108,10 +158,16 @@ static int bcm2835gpio_write(int tck, int tms, int tdi)
 	return ERROR_OK;
 }
 
-static int bcm2835gpio_swd_write(int swclk, int swdio)
+/* Requires push-pull drive mode for swclk and swdio */
+static int bcm2835gpio_swd_write_fast(int swclk, int swdio)
 {
-	uint32_t set = swclk << swclk_gpio | swdio << swdio_gpio;
-	uint32_t clear = !swclk << swclk_gpio | !swdio << swdio_gpio;
+	swclk = swclk ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].active_low ? 1 : 0);
+	swdio = swdio ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].active_low ? 1 : 0);
+
+	uint32_t set = swclk << adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].gpio_num |
+					swdio << adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
+	uint32_t clear = !swclk << adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].gpio_num |
+					!swdio << adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
 
 	GPIO_SET = set;
 	GPIO_CLR = clear;
@@ -122,55 +178,62 @@ static int bcm2835gpio_swd_write(int swclk, int swdio)
 	return ERROR_OK;
 }
 
+/* Generic mode that works for open-drain/open-source drive modes, but slower */
+static int bcm2835gpio_swd_write_generic(int swclk, int swdio)
+{
+	set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO], swdio);
+	set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK], swclk); /* Write clock last */
+
+	for (unsigned int i = 0; i < jtag_delay; ++i)
+		asm volatile ("");
+
+	return ERROR_OK;
+}
+
 /* (1) assert or (0) deassert reset lines */
 static int bcm2835gpio_reset(int trst, int srst)
 {
-	uint32_t set = 0;
-	uint32_t clear = 0;
+	/* As the "adapter reset_config" command keeps the srst and trst gpio drive
+	 * mode settings in sync we can use our standard set_gpio_value() function
+	 * that honours drive mode and active low.
+	 */
+	if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SRST))
+		set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SRST], srst);
 
-	if (is_gpio_valid(trst_gpio)) {
-		set |= !trst<<trst_gpio;
-		clear |= trst<<trst_gpio;
-	}
-
-	if (is_gpio_valid(srst_gpio)) {
-		set |= !srst<<srst_gpio;
-		clear |= srst<<srst_gpio;
-	}
-
-	GPIO_SET = set;
-	GPIO_CLR = clear;
+	if (is_gpio_config_valid(ADAPTER_GPIO_IDX_TRST))
+		set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_TRST], trst);
 
+	LOG_DEBUG("BCM2835 GPIO: bcm2835gpio_reset(%d, %d), trst_gpio: %d %d, srst_gpio: %d %d",
+		trst, srst,
+		adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_TRST].gpio_num,
+		adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].chip_num, adapter_gpio_config[ADAPTER_GPIO_IDX_SRST].gpio_num);
 	return ERROR_OK;
 }
 
 static void bcm2835_swdio_drive(bool is_output)
 {
-	if (is_gpio_valid(swdio_dir_gpio)) {
-		if (is_output) {
-			GPIO_SET = 1 << swdio_dir_gpio;
-			OUT_GPIO(swdio_gpio);
-		} else {
-			INP_GPIO(swdio_gpio);
-			GPIO_CLR = 1 << swdio_dir_gpio;
-		}
+	if (is_output) {
+		if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO_DIR))
+			set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 1);
+		OUT_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
 	} else {
-		if (is_output)
-			OUT_GPIO(swdio_gpio);
-		else
-			INP_GPIO(swdio_gpio);
+		INP_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
+		if (is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO_DIR))
+			set_gpio_value(&adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO_DIR], 0);
 	}
 }
 
 static int bcm2835_swdio_read(void)
 {
-	return !!(GPIO_LEV & 1 << swdio_gpio);
+	unsigned int shift = adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num;
+	uint32_t value = (GPIO_LEV >> shift) & 1;
+	return value ^ (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].active_low ? 1 : 0);
 }
 
 static int bcm2835gpio_khz(int khz, int *jtag_speed)
 {
 	if (!khz) {
-		LOG_DEBUG("RCLK not supported");
+		LOG_DEBUG("BCM2835 GPIO: RCLK not supported");
 		return ERROR_FAIL;
 	}
 	*jtag_speed = speed_coeff/khz - speed_offset;
@@ -191,121 +254,6 @@ static int bcm2835gpio_speed(int speed)
 	return ERROR_OK;
 }
 
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionums)
-{
-	if (CMD_ARGC == 4) {
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], tms_gpio);
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[2], tdi_gpio);
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[3], tdo_gpio);
-	} else if (CMD_ARGC != 0) {
-		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
-
-	command_print(CMD,
-			"BCM2835 GPIO config: tck = %d, tms = %d, tdi = %d, tdo = %d",
-			tck_gpio, tms_gpio, tdi_gpio, tdo_gpio);
-
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tck)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tck_gpio);
-
-	command_print(CMD, "BCM2835 GPIO config: tck = %d", tck_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tms)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tms_gpio);
-
-	command_print(CMD, "BCM2835 GPIO config: tms = %d", tms_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdo)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdo_gpio);
-
-	command_print(CMD, "BCM2835 GPIO config: tdo = %d", tdo_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_tdi)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], tdi_gpio);
-
-	command_print(CMD, "BCM2835 GPIO config: tdi = %d", tdi_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_srst)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], srst_gpio);
-
-	command_print(CMD, "BCM2835 GPIO config: srst = %d", srst_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_jtag_gpionum_trst)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], trst_gpio);
-
-	command_print(CMD, "BCM2835 GPIO config: trst = %d", trst_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionums)
-{
-	if (CMD_ARGC == 2) {
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[1], swdio_gpio);
-	} else if (CMD_ARGC != 0) {
-		return ERROR_COMMAND_SYNTAX_ERROR;
-	}
-
-	command_print(CMD,
-			"BCM2835 GPIO nums: swclk = %d, swdio = %d",
-			swclk_gpio, swdio_gpio);
-
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swclk)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swclk_gpio);
-
-	command_print(CMD, "BCM2835 num: swclk = %d", swclk_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_swd_gpionum_swdio)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_gpio);
-
-	command_print(CMD, "BCM2835 num: swdio = %d", swdio_gpio);
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(bcm2835gpio_handle_swd_dir_gpionum_swdio)
-{
-	if (CMD_ARGC == 1)
-		COMMAND_PARSE_NUMBER(int, CMD_ARGV[0], swdio_dir_gpio);
-
-	command_print(CMD, "BCM2835 num: swdio_dir = %d", swdio_dir_gpio);
-	return ERROR_OK;
-}
-
 COMMAND_HANDLER(bcm2835gpio_handle_speed_coeffs)
 {
 	if (CMD_ARGC == 2) {
@@ -329,83 +277,6 @@ COMMAND_HANDLER(bcm2835gpio_handle_peripheral_base)
 }
 
 static const struct command_registration bcm2835gpio_subcommand_handlers[] = {
-	{
-		.name = "jtag_nums",
-		.handler = &bcm2835gpio_handle_jtag_gpionums,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
-		.usage = "[tck tms tdi tdo]",
-	},
-	{
-		.name = "tck_num",
-		.handler = &bcm2835gpio_handle_jtag_gpionum_tck,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for tck.",
-		.usage = "[tck]",
-	},
-	{
-		.name = "tms_num",
-		.handler = &bcm2835gpio_handle_jtag_gpionum_tms,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for tms.",
-		.usage = "[tms]",
-	},
-	{
-		.name = "tdo_num",
-		.handler = &bcm2835gpio_handle_jtag_gpionum_tdo,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for tdo.",
-		.usage = "[tdo]",
-	},
-	{
-		.name = "tdi_num",
-		.handler = &bcm2835gpio_handle_jtag_gpionum_tdi,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for tdi.",
-		.usage = "[tdi]",
-	},
-	{
-		.name = "swd_nums",
-		.handler = &bcm2835gpio_handle_swd_gpionums,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio numbers for swclk, swdio. (in that order)",
-		.usage = "[swclk swdio]",
-	},
-	{
-		.name = "swclk_num",
-		.handler = &bcm2835gpio_handle_swd_gpionum_swclk,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for swclk.",
-		.usage = "[swclk]",
-	},
-	{
-		.name = "swdio_num",
-		.handler = &bcm2835gpio_handle_swd_gpionum_swdio,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for swdio.",
-		.usage = "[swdio]",
-	},
-	{
-		.name = "swdio_dir_num",
-		.handler = &bcm2835gpio_handle_swd_dir_gpionum_swdio,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for swdio direction control pin (set=output mode, clear=input mode)",
-		.usage = "[swdio_dir]",
-	},
-	{
-		.name = "srst_num",
-		.handler = &bcm2835gpio_handle_jtag_gpionum_srst,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for srst.",
-		.usage = "[srst]",
-	},
-	{
-		.name = "trst_num",
-		.handler = &bcm2835gpio_handle_jtag_gpionum_trst,
-		.mode = COMMAND_CONFIG,
-		.help = "gpio number for trst.",
-		.usage = "[trst]",
-	},
 	{
 		.name = "speed_coeffs",
 		.handler = &bcm2835gpio_handle_speed_coeffs,
@@ -435,49 +306,26 @@ static const struct command_registration bcm2835gpio_command_handlers[] = {
 	COMMAND_REGISTRATION_DONE
 };
 
-static const char * const bcm2835_transports[] = { "jtag", "swd", NULL };
-
-static struct jtag_interface bcm2835gpio_interface = {
-	.supported = DEBUG_CAP_TMS_SEQ,
-	.execute_queue = bitbang_execute_queue,
-};
-
-struct adapter_driver bcm2835gpio_adapter_driver = {
-	.name = "bcm2835gpio",
-	.transports = bcm2835_transports,
-	.commands = bcm2835gpio_command_handlers,
-
-	.init = bcm2835gpio_init,
-	.quit = bcm2835gpio_quit,
-	.reset = bcm2835gpio_reset,
-	.speed = bcm2835gpio_speed,
-	.khz = bcm2835gpio_khz,
-	.speed_div = bcm2835gpio_speed_div,
-
-	.jtag_ops = &bcm2835gpio_interface,
-	.swd_ops = &bitbang_swd,
-};
-
 static bool bcm2835gpio_jtag_mode_possible(void)
 {
-	if (!is_gpio_valid(tck_gpio))
-		return 0;
-	if (!is_gpio_valid(tms_gpio))
-		return 0;
-	if (!is_gpio_valid(tdi_gpio))
-		return 0;
-	if (!is_gpio_valid(tdo_gpio))
-		return 0;
-	return 1;
+	if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TCK))
+		return false;
+	if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TMS))
+		return false;
+	if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDI))
+		return false;
+	if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_TDO))
+		return false;
+	return true;
 }
 
 static bool bcm2835gpio_swd_mode_possible(void)
 {
-	if (!is_gpio_valid(swclk_gpio))
-		return 0;
-	if (!is_gpio_valid(swdio_gpio))
-		return 0;
-	return 1;
+	if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWCLK))
+		return false;
+	if (!is_gpio_config_valid(ADAPTER_GPIO_IDX_SWDIO))
+		return false;
+	return true;
 }
 
 static void bcm2835gpio_munmap(void)
@@ -493,12 +341,22 @@ static void bcm2835gpio_munmap(void)
 	}
 }
 
+static struct bitbang_interface bcm2835gpio_bitbang = {
+	.read = bcm2835gpio_read,
+	.write = bcm2835gpio_write,
+	.swdio_read = bcm2835_swdio_read,
+	.swdio_drive = bcm2835_swdio_drive,
+	.swd_write = bcm2835gpio_swd_write_generic,
+	.blink = NULL
+};
+
 static int bcm2835gpio_init(void)
 {
-	bitbang_interface = &bcm2835gpio_bitbang;
-
 	LOG_INFO("BCM2835 GPIO JTAG/SWD bitbang driver");
 
+	bitbang_interface = &bcm2835gpio_bitbang;
+	adapter_gpio_config = adapter_gpio_get_config();
+
 	if (transport_is_jtag() && !bcm2835gpio_jtag_mode_possible()) {
 		LOG_ERROR("Require tck, tms, tdi and tdo gpios for JTAG mode");
 		return ERROR_JTAG_INIT_FAILED;
@@ -543,58 +401,45 @@ static int bcm2835gpio_init(void)
 	/* set 4mA drive strength, slew rate limited, hysteresis on */
 	pads_base[BCM2835_PADS_GPIO_0_27_OFFSET] = 0x5a000008 + 1;
 
-	/*
-	 * Configure TDO as an input, and TDI, TCK, TMS, TRST, SRST
-	 * as outputs.  Drive TDI and TCK low, and TMS/TRST/SRST high.
+	/* Configure JTAG/SWD signals. Default directions and initial states are handled
+	 * by adapter.c and "adapter gpio" command.
 	 */
 	if (transport_is_jtag()) {
-		tdo_gpio_mode = MODE_GPIO(tdo_gpio);
-		tdi_gpio_mode = MODE_GPIO(tdi_gpio);
-		tck_gpio_mode = MODE_GPIO(tck_gpio);
-		tms_gpio_mode = MODE_GPIO(tms_gpio);
-
-		INP_GPIO(tdo_gpio);
-
-		GPIO_CLR = 1<<tdi_gpio | 1<<tck_gpio;
-		GPIO_SET = 1<<tms_gpio;
-
-		OUT_GPIO(tdi_gpio);
-		OUT_GPIO(tck_gpio);
-		OUT_GPIO(tms_gpio);
-
-		if (is_gpio_valid(trst_gpio)) {
-			trst_gpio_mode = MODE_GPIO(trst_gpio);
-			GPIO_SET = 1 << trst_gpio;
-			OUT_GPIO(trst_gpio);
-		}
+		initialize_gpio(ADAPTER_GPIO_IDX_TDO);
+		initialize_gpio(ADAPTER_GPIO_IDX_TDI);
+		initialize_gpio(ADAPTER_GPIO_IDX_TMS);
+		initialize_gpio(ADAPTER_GPIO_IDX_TCK);
+		initialize_gpio(ADAPTER_GPIO_IDX_TRST);
 	}
 
 	if (transport_is_swd()) {
-		/* Make buffer an output before the GPIO connected to it */
-		if (is_gpio_valid(swdio_dir_gpio)) {
-			swdio_dir_gpio_mode = MODE_GPIO(swdio_dir_gpio);
-			GPIO_SET = 1 << swdio_dir_gpio;
-			OUT_GPIO(swdio_dir_gpio);
+		/* swdio and its buffer should be initialized in the order that prevents
+		 * two outputs from being connected together. This will occur if the
+		 * swdio GPIO of the AM335x is configured as an output while its
+		 * external buffer is configured to send the swdio signal from the
+		 * target to the AM335x.
+		 */
+		if (adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].init_state == ADAPTER_GPIO_INIT_STATE_INPUT) {
+			initialize_gpio(ADAPTER_GPIO_IDX_SWDIO);
+			initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
+		} else {
+			initialize_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
+			initialize_gpio(ADAPTER_GPIO_IDX_SWDIO);
 		}
 
-		swclk_gpio_mode = MODE_GPIO(swclk_gpio);
-		swdio_gpio_mode = MODE_GPIO(swdio_gpio);
+		initialize_gpio(ADAPTER_GPIO_IDX_SWCLK);
 
-		GPIO_CLR = 1<<swdio_gpio | 1<<swclk_gpio;
-
-		OUT_GPIO(swclk_gpio);
-		OUT_GPIO(swdio_gpio);
+		if (adapter_gpio_config[ADAPTER_GPIO_IDX_SWCLK].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL &&
+				adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL) {
+			LOG_DEBUG("BCM2835 GPIO using fast mode for SWD write");
+			bcm2835gpio_bitbang.swd_write = bcm2835gpio_swd_write_fast;
+		} else {
+			LOG_DEBUG("BCM2835 GPIO using generic mode for SWD write");
+			bcm2835gpio_bitbang.swd_write = bcm2835gpio_swd_write_generic;
+		}
 	}
 
-	if (is_gpio_valid(srst_gpio)) {
-		srst_gpio_mode = MODE_GPIO(srst_gpio);
-		GPIO_SET = 1 << srst_gpio;
-		OUT_GPIO(srst_gpio);
-	}
-
-	LOG_DEBUG("saved pinmux settings: tck %d tms %d tdi %d "
-		  "tdo %d trst %d srst %d", tck_gpio_mode, tms_gpio_mode,
-		  tdi_gpio_mode, tdo_gpio_mode, trst_gpio_mode, srst_gpio_mode);
+	initialize_gpio(ADAPTER_GPIO_IDX_SRST);
 
 	return ERROR_OK;
 }
@@ -602,26 +447,51 @@ static int bcm2835gpio_init(void)
 static int bcm2835gpio_quit(void)
 {
 	if (transport_is_jtag()) {
-		SET_MODE_GPIO(tdo_gpio, tdo_gpio_mode);
-		SET_MODE_GPIO(tdi_gpio, tdi_gpio_mode);
-		SET_MODE_GPIO(tck_gpio, tck_gpio_mode);
-		SET_MODE_GPIO(tms_gpio, tms_gpio_mode);
-		if (is_gpio_valid(trst_gpio))
-			SET_MODE_GPIO(trst_gpio, trst_gpio_mode);
+		restore_gpio(ADAPTER_GPIO_IDX_TDO);
+		restore_gpio(ADAPTER_GPIO_IDX_TDI);
+		restore_gpio(ADAPTER_GPIO_IDX_TCK);
+		restore_gpio(ADAPTER_GPIO_IDX_TMS);
+		restore_gpio(ADAPTER_GPIO_IDX_TRST);
 	}
 
 	if (transport_is_swd()) {
-		SET_MODE_GPIO(swclk_gpio, swclk_gpio_mode);
-		SET_MODE_GPIO(swdio_gpio, swdio_gpio_mode);
+		/* Restore swdio/swdio_dir to their initial modes, even if that means
+		 * connecting two outputs. Begin by making swdio an input so that the
+		 * current and final states of swdio and swdio_dir do not have to be
+		 * considered to calculate the safe restoration order.
+		 */
+		INP_GPIO(adapter_gpio_config[ADAPTER_GPIO_IDX_SWDIO].gpio_num);
+		restore_gpio(ADAPTER_GPIO_IDX_SWDIO_DIR);
+		restore_gpio(ADAPTER_GPIO_IDX_SWDIO);
+		restore_gpio(ADAPTER_GPIO_IDX_SWCLK);
 	}
 
-	if (is_gpio_valid(srst_gpio))
-		SET_MODE_GPIO(srst_gpio, srst_gpio_mode);
-
-	if (is_gpio_valid(swdio_dir_gpio))
-		SET_MODE_GPIO(swdio_dir_gpio, swdio_dir_gpio_mode);
+	restore_gpio(ADAPTER_GPIO_IDX_SRST);
 
 	bcm2835gpio_munmap();
 
 	return ERROR_OK;
 }
+
+
+static const char * const bcm2835_transports[] = { "jtag", "swd", NULL };
+
+static struct jtag_interface bcm2835gpio_interface = {
+	.supported = DEBUG_CAP_TMS_SEQ,
+	.execute_queue = bitbang_execute_queue,
+};
+struct adapter_driver bcm2835gpio_adapter_driver = {
+	.name = "bcm2835gpio",
+	.transports = bcm2835_transports,
+	.commands = bcm2835gpio_command_handlers,
+
+	.init = bcm2835gpio_init,
+	.quit = bcm2835gpio_quit,
+	.reset = bcm2835gpio_reset,
+	.speed = bcm2835gpio_speed,
+	.khz = bcm2835gpio_khz,
+	.speed_div = bcm2835gpio_speed_div,
+
+	.jtag_ops = &bcm2835gpio_interface,
+	.swd_ops = &bitbang_swd,
+};
diff --git a/src/jtag/startup.tcl b/src/jtag/startup.tcl
index 1a638a30f..aeb42ed4f 100644
--- a/src/jtag/startup.tcl
+++ b/src/jtag/startup.tcl
@@ -455,70 +455,140 @@ proc vsllink_usb_interface args {
 	eval vsllink usb_interface $args
 }
 
+
+lappend _telnet_autocomplete_skip bcm2835_gpio_helper
+proc bcm2835_gpio_helper {sig_name args} {
+	set caller [lindex [info level -1] 0]
+	echo "DEPRECATED! use 'adapter gpio $sig_name' not '$caller'"
+	switch [llength $args] {
+		0 {}
+		1 {eval adapter gpio $sig_name $args -chip 0}
+		2 {eval adapter gpio $sig_name [lindex $args 1] -chip [lindex $args 0]}
+		default {return -code 1 -level 1 "$caller: syntax error"}
+	}
+	eval adapter gpio $sig_name
+}
+
 lappend _telnet_autocomplete_skip bcm2835gpio_jtag_nums
-proc bcm2835gpio_jtag_nums args {
-	echo "DEPRECATED! use 'bcm2835gpio jtag_nums' not 'bcm2835gpio_jtag_nums'"
-	eval bcm2835gpio jtag_nums $args
+proc bcm2835gpio_jtag_nums {tck_num tms_num tdi_num tdo_num} {
+	echo "DEPRECATED! use 'adapter gpio tck; adapter gpio tms; adapter gpio tdi; adapter gpio tdo' not 'bcm2835gpio_jtag_nums'"
+	eval adapter gpio tck $tck_num -chip 0
+	eval adapter gpio tms $tms_num -chip 0
+	eval adapter gpio tdi $tdi_num -chip 0
+	eval adapter gpio tdo $tdo_num -chip 0
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_tck_num
 proc bcm2835gpio_tck_num args {
-	echo "DEPRECATED! use 'bcm2835gpio tck_num' not 'bcm2835gpio_tck_num'"
-	eval bcm2835gpio tck_num $args
+	eval bcm2835_gpio_helper tck $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_tms_num
 proc bcm2835gpio_tms_num args {
-	echo "DEPRECATED! use 'bcm2835gpio tms_num' not 'bcm2835gpio_tms_num'"
-	eval bcm2835gpio tms_num $args
+	eval bcm2835_gpio_helper tms $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_tdo_num
 proc bcm2835gpio_tdo_num args {
-	echo "DEPRECATED! use 'bcm2835gpio tdo_num' not 'bcm2835gpio_tdo_num'"
-	eval bcm2835gpio tdo_num $args
+	eval bcm2835_gpio_helper tdo $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_tdi_num
 proc bcm2835gpio_tdi_num args {
-	echo "DEPRECATED! use 'bcm2835gpio tdi_num' not 'bcm2835gpio_tdi_num'"
-	eval bcm2835gpio tdi_num $args
+	eval bcm2835_gpio_helper tdi $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_swd_nums
-proc bcm2835gpio_swd_nums args {
-	echo "DEPRECATED! use 'bcm2835gpio swd_nums' not 'bcm2835gpio_swd_nums'"
-	eval bcm2835gpio swd_nums $args
+proc bcm2835gpio_swd_nums {swclk_num swdio_num} {
+	echo "DEPRECATED! use 'adapter gpio swclk; adapter gpio swdio' not 'bcm2835gpio_swd_nums'"
+	eval adapter gpio swclk $swclk_num -chip 0
+	eval adapter gpio swdio $swdio_num -chip 0
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_swclk_num
 proc bcm2835gpio_swclk_num args {
-	echo "DEPRECATED! use 'bcm2835gpio swclk_num' not 'bcm2835gpio_swclk_num'"
-	eval bcm2835gpio swclk_num $args
+	eval bcm2835_gpio_helper swclk $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_swdio_num
 proc bcm2835gpio_swdio_num args {
-	echo "DEPRECATED! use 'bcm2835gpio swdio_num' not 'bcm2835gpio_swdio_num'"
-	eval bcm2835gpio swdio_num $args
+	eval bcm2835_gpio_helper swdio $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_swdio_dir_num
 proc bcm2835gpio_swdio_dir_num args {
-	echo "DEPRECATED! use 'bcm2835gpio swdio_dir_num' not 'bcm2835gpio_swdio_dir_num'"
-	eval bcm2835gpio swdio_dir_num $args
+	eval bcm2835_gpio_helper swdio_dir $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_srst_num
 proc bcm2835gpio_srst_num args {
-	echo "DEPRECATED! use 'bcm2835gpio srst_num' not 'bcm2835gpio_srst_num'"
-	eval bcm2835gpio srst_num $args
+	eval bcm2835_gpio_helper srst $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_trst_num
 proc bcm2835gpio_trst_num args {
-	echo "DEPRECATED! use 'bcm2835gpio trst_num' not 'bcm2835gpio_trst_num'"
-	eval bcm2835gpio trst_num $args
+	eval bcm2835_gpio_helper trst $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio jtag_nums"
+proc "bcm2835gpio jtag_nums" {tck_num tms_num tdi_num tdo_num} {
+	echo "DEPRECATED! use 'adapter gpio tck; adapter gpio tms; adapter gpio tdi; adapter gpio tdo' not 'bcm2835gpio jtag_nums'"
+	eval adapter gpio tck $tck_num -chip 0
+	eval adapter gpio tms $tms_num -chip 0
+	eval adapter gpio tdi $tdi_num -chip 0
+	eval adapter gpio tdo $tdo_num -chip 0
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio tck_num"
+proc "bcm2835gpio tck_num" args {
+	eval bcm2835_gpio_helper tck $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio tms_num"
+proc "bcm2835gpio tms_num" args {
+	eval bcm2835_gpio_helper tms $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio tdo_num"
+proc "bcm2835gpio tdo_num" args {
+	eval bcm2835_gpio_helper tdo $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio tdi_num"
+proc "bcm2835gpio tdi_num" args {
+	eval bcm2835_gpio_helper tdi $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio swd_nums"
+proc "bcm2835gpio swd_nums" {swclk_num swdio_num} {
+	echo "DEPRECATED! use 'adapter gpio swclk; adapter gpio swdio' not 'bcm2835gpio swd_nums'"
+	eval adapter gpio swclk $swclk_num -chip 0
+	eval adapter gpio swdio $swdio_num -chip 0
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio swclk_num"
+proc "bcm2835gpio swclk_num" args {
+	eval bcm2835_gpio_helper swclk $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio swdio_num"
+proc "bcm2835gpio swdio_num" args {
+	eval bcm2835_gpio_helper swdio $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio swdio_dir_num"
+proc "bcm2835gpio swdio_dir_num" args {
+	eval bcm2835_gpio_helper swdio_dir $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio srst_num"
+proc "bcm2835gpio srst_num" args {
+	eval bcm2835_gpio_helper srst $args
+}
+
+lappend _telnet_autocomplete_skip "bcm2835gpio trst_num"
+proc "bcm2835gpio trst_num" args {
+	eval bcm2835_gpio_helper trst $args
 }
 
 lappend _telnet_autocomplete_skip bcm2835gpio_speed_coeffs
diff --git a/tcl/interface/jtag_hat_rpi2.cfg b/tcl/interface/jtag_hat_rpi2.cfg
index 495ff0f04..cd1cbfb8a 100644
--- a/tcl/interface/jtag_hat_rpi2.cfg
+++ b/tcl/interface/jtag_hat_rpi2.cfg
@@ -7,31 +7,35 @@
 
 adapter driver bcm2835gpio
 
-bcm2835gpio_peripheral_base 0x3F000000
+bcm2835gpio peripheral_base 0x3F000000
 
 # Transition delay calculation: SPEED_COEFF/khz - SPEED_OFFSET
 # These depend on system clock, calibrated for stock 700MHz
 # bcm2835gpio_speed SPEED_COEFF SPEED_OFFSET
-bcm2835gpio_speed_coeffs 146203 36
+bcm2835gpio speed_coeffs 146203 36
 
 # Each of the JTAG lines need a gpio number set: tck tms tdi tdo
 # Header pin numbers: 23 22 19 21
-bcm2835gpio_jtag_nums 11 25 10 9
+adapter gpio tck -chip 0 11
+adapter gpio tms -chip 0 25
+adapter gpio tdi -chip 0 10
+adapter gpio tdo -chip 0 9
 
 # Each of the SWD lines need a gpio number set: swclk swdio
 # Header pin numbers: 23 22
-bcm2835gpio_swd_nums 11 25
+adapter gpio swclk -chip 0 11
+adapter gpio swdio -chip 0 25
 
 # Direction pin for SWDIO level shifting buffer
-bcm2835gpio_swdio_dir_num 6
+adapter gpio swdio_dir -chip 0 6
 
 # If you define trst or srst, use appropriate reset_config
 # Header pin numbers: TRST - 26, SRST - 18
 
-bcm2835gpio_trst_num 7
+adapter gpio trst -chip 0 7
 #reset_config trst_only
 
-bcm2835gpio_srst_num 24
+adapter gpio srst -chip 0 24
 #reset_config srst_only
 
 # or if you have both connected
diff --git a/tcl/interface/raspberrypi-native.cfg b/tcl/interface/raspberrypi-native.cfg
index 6d5c3bfd4..02a356350 100644
--- a/tcl/interface/raspberrypi-native.cfg
+++ b/tcl/interface/raspberrypi-native.cfg
@@ -21,19 +21,23 @@ bcm2835gpio speed_coeffs 113714 28
 
 # Each of the JTAG lines need a gpio number set: tck tms tdi tdo
 # Header pin numbers: 23 22 19 21
-bcm2835gpio jtag_nums 11 25 10 9
+adapter gpio tck -chip 0 11
+adapter gpio tms -chip 0 25
+adapter gpio tdi -chip 0 10
+adapter gpio tdo -chip 0 9
 
 # Each of the SWD lines need a gpio number set: swclk swdio
 # Header pin numbers: 23 22
-bcm2835gpio swd_nums 11 25
+adapter gpio swclk -chip 0 11
+adapter gpio swdio -chip 0 25
 
 # If you define trst or srst, use appropriate reset_config
 # Header pin numbers: TRST - 26, SRST - 18
 
-# bcm2835gpio trst_num 7
+# adapter gpio trst -chip 0 7
 # reset_config trst_only
 
-# bcm2835gpio srst_num 24
+# adapter gpio srst -chip 0 24
 # reset_config srst_only srst_push_pull
 
 # or if you have both connected,
diff --git a/tcl/interface/raspberrypi2-native.cfg b/tcl/interface/raspberrypi2-native.cfg
index 547df0872..5faabed9d 100644
--- a/tcl/interface/raspberrypi2-native.cfg
+++ b/tcl/interface/raspberrypi2-native.cfg
@@ -21,19 +21,23 @@ bcm2835gpio speed_coeffs 146203 36
 
 # Each of the JTAG lines need a gpio number set: tck tms tdi tdo
 # Header pin numbers: 23 22 19 21
-bcm2835gpio jtag_nums 11 25 10 9
+adapter gpio tck -chip 0 11
+adapter gpio tms -chip 0 25
+adapter gpio tdi -chip 0 10
+adapter gpio tdo -chip 0 9
 
 # Each of the SWD lines need a gpio number set: swclk swdio
 # Header pin numbers: 23 22
-bcm2835gpio swd_nums 11 25
+adapter gpio swclk -chip 0 11
+adapter gpio swdio -chip 0 25
 
 # If you define trst or srst, use appropriate reset_config
 # Header pin numbers: TRST - 26, SRST - 18
 
-# bcm2835gpio trst_num 7
+# adapter gpio trst -chip 0 7
 # reset_config trst_only
 
-# bcm2835gpio srst_num 24
+# adapter gpio srst -chip 0 24
 # reset_config srst_only srst_push_pull
 
 # or if you have both connected,
diff --git a/testing/test-bcm2835gpio-deprecated-commands.cfg b/testing/test-bcm2835gpio-deprecated-commands.cfg
new file mode 100644
index 000000000..b34eb36bb
--- /dev/null
+++ b/testing/test-bcm2835gpio-deprecated-commands.cfg
@@ -0,0 +1,105 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+# OpenOCD script to test that the deprecated "bcm2835gpio *" and "bcm2835gpio_*"
+# commands produce the expected results. Run this command as:
+# openocd -f <path>/test-bcm2835gpio-deprecated-commands.cfg
+
+# Raise an error if the "actual" value does not match the "expected" value. Trim
+# whitespace (including newlines) from strings before comparing.
+proc expected_value {expected actual} {
+	if {[string trim $expected] ne [string trim $actual]} {
+		error [puts "ERROR: '${actual}' != '${expected}'"]
+	}
+}
+
+set supported_signals {tdo tdi tms tck trst swdio swdio_dir swclk srst}
+
+adapter speed 100
+adapter driver bcm2835gpio
+puts "Driver is '[adapter name]'"
+expected_value "bcm2835gpio" [adapter name]
+echo [adapter gpio]
+
+#####################################
+# Test the "bcm2835gpio *" commands
+
+# Change the GPIO chip for all signals. Don't check directly here, do so when
+# each signal command is tested.
+# bcm2835gpio gpiochip 0
+
+bcm2835gpio jtag_nums 1 2 3 4
+expected_value "adapter gpio tck (output): num 1, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tck]
+expected_value "adapter gpio tms (output): num 2, chip 0, active-high, push-pull, pull-none, init-state active" [eval adapter gpio tms]
+expected_value "adapter gpio tdi (output): num 3, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tdi]
+expected_value "adapter gpio tdo (input): num 4, chip 0, active-high, pull-none, init-state input" [eval adapter gpio tdo]
+
+bcm2835gpio tck_num 5
+expected_value "adapter gpio tck (output): num 5, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tck]
+
+bcm2835gpio tms_num 6
+expected_value "adapter gpio tms (output): num 6, chip 0, active-high, push-pull, pull-none, init-state active" [eval adapter gpio tms]
+
+bcm2835gpio tdi_num 7
+expected_value "adapter gpio tdi (output): num 7, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tdi]
+
+bcm2835gpio tdo_num 8
+expected_value "adapter gpio tdo (input): num 8, chip 0, active-high, pull-none, init-state input" [eval adapter gpio tdo]
+
+bcm2835gpio swd_nums 9 10
+expected_value "adapter gpio swclk (output): num 9, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swclk]
+expected_value "adapter gpio swdio (bidirectional): num 10, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swdio]
+
+bcm2835gpio swclk_num 11
+expected_value "adapter gpio swclk (output): num 11, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swclk]
+
+bcm2835gpio swdio_num 12
+expected_value "adapter gpio swdio (bidirectional): num 12, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swdio]
+
+bcm2835gpio swdio_dir_num 13
+expected_value "adapter gpio swdio_dir (output): num 13, chip 0, active-high, push-pull, pull-none" [eval adapter gpio swdio_dir]
+
+bcm2835gpio srst_num 14
+expected_value "adapter gpio srst (output): num 14, chip 0, active-low, pull-none, init-state inactive" [eval adapter gpio srst]
+
+bcm2835gpio trst_num 15
+expected_value "adapter gpio trst (output): num 15, chip 0, active-low, pull-none, init-state inactive" [eval adapter gpio trst]
+
+
+#####################################
+# Test the old bcm2835gpio_* commands
+
+# Reset the GPIO chip for all signals. Don't check directly here, do so when
+# each signal command is tested.
+foreach sig_name $supported_signals {
+	eval adapter gpio $sig_name -chip -1
+}
+
+bcm2835gpio_jtag_nums 17 18 19 20
+expected_value "adapter gpio tck (output): num 17, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tck]
+expected_value "adapter gpio tms (output): num 18, chip 0, active-high, push-pull, pull-none, init-state active" [eval adapter gpio tms]
+expected_value "adapter gpio tdi (output): num 19, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tdi]
+expected_value "adapter gpio tdo (input): num 20, chip 0, active-high, pull-none, init-state input" [eval adapter gpio tdo]
+
+bcm2835gpio_tck_num 21
+expected_value "adapter gpio tck (output): num 21, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tck]
+
+bcm2835gpio_tms_num 22
+expected_value "adapter gpio tms (output): num 22, chip 0, active-high, push-pull, pull-none, init-state active" [eval adapter gpio tms]
+
+bcm2835gpio_tdi_num 23
+expected_value "adapter gpio tdi (output): num 23, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio tdi]
+
+bcm2835gpio_tdo_num 24
+expected_value "adapter gpio tdo (input): num 24, chip 0, active-high, pull-none, init-state input" [eval adapter gpio tdo]
+
+bcm2835gpio_swd_nums 25 26
+expected_value "adapter gpio swclk (output): num 25, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swclk]
+expected_value "adapter gpio swdio (bidirectional): num 26, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swdio]
+
+bcm2835gpio_swclk_num 27
+expected_value "adapter gpio swclk (output): num 27, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swclk]
+
+bcm2835gpio_swdio_num 28
+expected_value "adapter gpio swdio (bidirectional): num 28, chip 0, active-high, push-pull, pull-none, init-state inactive" [eval adapter gpio swdio]
+
+puts "SUCCESS"