diff --git a/doc/openocd.texi b/doc/openocd.texi
index 3f229704c..0e4c5f6e9 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -2227,7 +2227,7 @@ the port @var{number} defaults to 6666.
 When specified as "disabled", this service is not activated.
 @end deffn
 
-@deffn {Config Command} {telnet_port} [number]
+@deffn {Config Command} {telnet port} [number]
 Specify or query the
 port on which to listen for incoming telnet connections.
 This port is intended for interaction with one human through TCL commands.
diff --git a/src/flash/nor/atsame5.c b/src/flash/nor/atsame5.c
index c590081fc..a6ac9060a 100644
--- a/src/flash/nor/atsame5.c
+++ b/src/flash/nor/atsame5.c
@@ -85,6 +85,9 @@
 #define SAME_SERIES_51		0x01
 #define SAME_SERIES_53		0x03
 #define SAME_SERIES_54		0x04
+#define PIC32CXSG_SERIES_41	0x07
+#define PIC32CXSG_SERIES_60	0x00
+#define PIC32CXSG_SERIES_61	0x02
 
 /* Device ID macros */
 #define SAMD_GET_PROCESSOR(id) (id >> 28)
@@ -148,6 +151,27 @@ static const struct samd_part same54_parts[] = {
 	{ 0x03, "SAME54N19A", 512, 192 },
 };
 
+/* See PIC32CX SG41/SG60/SG61 Family Silicon Errata and Datasheet Clarifications
+ * DS80000985G */
+/* Known PIC32CX-SG41 parts. */
+static const struct samd_part pic32cxsg41_parts[] = {
+	{ 0x00, "PIC32CX1025SG41128", 1024, 256 },
+	{ 0x01, "PIC32CX1025SG41100", 1024, 256 },
+	{ 0x02, "PIC32CX1025SG41064", 1024, 256 },
+};
+
+/* Known PIC32CX-SG60 parts. */
+static const struct samd_part pic32cxsg60_parts[] = {
+	{ 0x00, "PIC32CX1025SG60128", 1024, 256 },
+	{ 0x01, "PIC32CX1025SG60100", 1024, 256 },
+};
+
+/* Known PIC32CX-SG61 parts. */
+static const struct samd_part pic32cxsg61_parts[] = {
+	{ 0x00, "PIC32CX1025SG61128", 1024, 256 },
+	{ 0x01, "PIC32CX1025SG61100", 1024, 256 },
+};
+
 /* Each family of parts contains a parts table in the DEVSEL field of DID.  The
  * processor ID, family ID, and series ID are used to determine which exact
  * family this is and then we can use the corresponding table. */
@@ -169,6 +193,12 @@ static const struct samd_family samd_families[] = {
 		same53_parts, ARRAY_SIZE(same53_parts) },
 	{ SAMD_PROCESSOR_M4, SAMD_FAMILY_E, SAME_SERIES_54,
 		same54_parts, ARRAY_SIZE(same54_parts) },
+	{ SAMD_PROCESSOR_M4, SAMD_FAMILY_E, PIC32CXSG_SERIES_41,
+		pic32cxsg41_parts, ARRAY_SIZE(pic32cxsg41_parts) },
+	{ SAMD_PROCESSOR_M4, SAMD_FAMILY_E, PIC32CXSG_SERIES_60,
+		pic32cxsg60_parts, ARRAY_SIZE(pic32cxsg60_parts) },
+	{ SAMD_PROCESSOR_M4, SAMD_FAMILY_E, PIC32CXSG_SERIES_61,
+		pic32cxsg61_parts, ARRAY_SIZE(pic32cxsg61_parts) },
 };
 
 struct samd_info {
diff --git a/src/helper/binarybuffer.c b/src/helper/binarybuffer.c
index c25383dc6..a7ca5af9d 100644
--- a/src/helper/binarybuffer.c
+++ b/src/helper/binarybuffer.c
@@ -57,49 +57,49 @@ void *buf_cpy(const void *from, void *_to, unsigned size)
 	return _to;
 }
 
-static bool buf_cmp_masked(uint8_t a, uint8_t b, uint8_t m)
+static bool buf_eq_masked(uint8_t a, uint8_t b, uint8_t m)
 {
-	return (a & m) != (b & m);
+	return (a & m) == (b & m);
 }
-static bool buf_cmp_trailing(uint8_t a, uint8_t b, uint8_t m, unsigned trailing)
+static bool buf_eq_trailing(uint8_t a, uint8_t b, uint8_t m, unsigned trailing)
 {
 	uint8_t mask = (1 << trailing) - 1;
-	return buf_cmp_masked(a, b, mask & m);
+	return buf_eq_masked(a, b, mask & m);
 }
 
-bool buf_cmp(const void *_buf1, const void *_buf2, unsigned size)
+bool buf_eq(const void *_buf1, const void *_buf2, unsigned size)
 {
 	if (!_buf1 || !_buf2)
-		return _buf1 != _buf2;
+		return _buf1 == _buf2;
 
 	unsigned last = size / 8;
 	if (memcmp(_buf1, _buf2, last) != 0)
-		return true;
+		return false;
 
 	unsigned trailing = size % 8;
 	if (!trailing)
-		return false;
+		return true;
 
 	const uint8_t *buf1 = _buf1, *buf2 = _buf2;
-	return buf_cmp_trailing(buf1[last], buf2[last], 0xff, trailing);
+	return buf_eq_trailing(buf1[last], buf2[last], 0xff, trailing);
 }
 
-bool buf_cmp_mask(const void *_buf1, const void *_buf2,
+bool buf_eq_mask(const void *_buf1, const void *_buf2,
 	const void *_mask, unsigned size)
 {
 	if (!_buf1 || !_buf2)
-		return _buf1 != _buf2 || _buf1 != _mask;
+		return _buf1 == _buf2 && _buf1 == _mask;
 
 	const uint8_t *buf1 = _buf1, *buf2 = _buf2, *mask = _mask;
 	unsigned last = size / 8;
 	for (unsigned i = 0; i < last; i++) {
-		if (buf_cmp_masked(buf1[i], buf2[i], mask[i]))
-			return true;
+		if (!buf_eq_masked(buf1[i], buf2[i], mask[i]))
+			return false;
 	}
 	unsigned trailing = size % 8;
 	if (!trailing)
-		return false;
-	return buf_cmp_trailing(buf1[last], buf2[last], mask[last], trailing);
+		return true;
+	return buf_eq_trailing(buf1[last], buf2[last], mask[last], trailing);
 }
 
 void *buf_set_ones(void *_buf, unsigned size)
diff --git a/src/helper/binarybuffer.h b/src/helper/binarybuffer.h
index df4199837..ed13b980f 100644
--- a/src/helper/binarybuffer.h
+++ b/src/helper/binarybuffer.h
@@ -172,8 +172,8 @@ static inline uint64_t buf_get_u64(const uint8_t *_buffer,
  */
 uint32_t flip_u32(uint32_t value, unsigned width);
 
-bool buf_cmp(const void *buf1, const void *buf2, unsigned size);
-bool buf_cmp_mask(const void *buf1, const void *buf2,
+bool buf_eq(const void *buf1, const void *buf2, unsigned size);
+bool buf_eq_mask(const void *buf1, const void *buf2,
 		const void *mask, unsigned size);
 
 /**
diff --git a/src/jtag/core.c b/src/jtag/core.c
index 9eae5e74b..a6f38a19d 100644
--- a/src/jtag/core.c
+++ b/src/jtag/core.c
@@ -881,9 +881,9 @@ static int jtag_check_value_inner(uint8_t *captured, uint8_t *in_check_value,
 	int compare_failed;
 
 	if (in_check_mask)
-		compare_failed = buf_cmp_mask(captured, in_check_value, in_check_mask, num_bits);
+		compare_failed = !buf_eq_mask(captured, in_check_value, in_check_mask, num_bits);
 	else
-		compare_failed = buf_cmp(captured, in_check_value, num_bits);
+		compare_failed = !buf_eq(captured, in_check_value, num_bits);
 
 	if (compare_failed) {
 		char *captured_str, *in_check_value_str;
diff --git a/src/rtos/nuttx.c b/src/rtos/nuttx.c
index 910014889..821e55088 100644
--- a/src/rtos/nuttx.c
+++ b/src/rtos/nuttx.c
@@ -32,7 +32,6 @@
 struct nuttx_params {
 	const char *target_name;
 	const struct rtos_register_stacking *stacking;
-	const struct rtos_register_stacking *(*select_stackinfo)(struct target *target);
 };
 
 /*
@@ -56,19 +55,12 @@ struct symbols {
 	bool optional;
 };
 
-/* Used to index the list of retrieved symbols. See nuttx_symbol_list for the order. */
-enum nuttx_symbol_vals {
-	NX_SYM_READYTORUN = 0,
-	NX_SYM_PIDHASH,
-	NX_SYM_NPIDHASH,
-	NX_SYM_TCB_INFO,
-};
-
 static const struct symbols nuttx_symbol_list[] = {
 	{ "g_readytorun", false },
 	{ "g_pidhash", false },
 	{ "g_npidhash", false },
 	{ "g_tcbinfo", false },
+	{ "g_reg_offs", false},
 	{ NULL, false }
 };
 
@@ -86,18 +78,14 @@ static char *task_state_str[] = {
 	"STOPPED",
 };
 
-static const struct rtos_register_stacking *cortexm_select_stackinfo(struct target *target);
-
 static const struct nuttx_params nuttx_params_list[] = {
 	{
 		.target_name = "cortex_m",
-		.stacking = NULL,
-		.select_stackinfo = cortexm_select_stackinfo,
+		.stacking = &nuttx_stacking_cortex_m,
 	},
 	{
 		.target_name = "hla_target",
-		.stacking = NULL,
-		.select_stackinfo = cortexm_select_stackinfo,
+		.stacking = &nuttx_stacking_cortex_m,
 	},
 	{
 		.target_name = "esp32",
@@ -117,28 +105,6 @@ static const struct nuttx_params nuttx_params_list[] = {
 	},
 };
 
-static bool cortexm_hasfpu(struct target *target)
-{
-	uint32_t cpacr;
-	struct armv7m_common *armv7m_target = target_to_armv7m(target);
-
-	if (!is_armv7m(armv7m_target) || armv7m_target->fp_feature == FP_NONE)
-		return false;
-
-	int retval = target_read_u32(target, FPU_CPACR, &cpacr);
-	if (retval != ERROR_OK) {
-		LOG_ERROR("Could not read CPACR register to check FPU state");
-		return false;
-	}
-
-	return cpacr & 0x00F00000;
-}
-
-static const struct rtos_register_stacking *cortexm_select_stackinfo(struct target *target)
-{
-	return cortexm_hasfpu(target) ? &nuttx_stacking_cortex_m_fpu : &nuttx_stacking_cortex_m;
-}
-
 static bool nuttx_detect_rtos(struct target *target)
 {
 	if (target->rtos->symbols &&
@@ -371,29 +337,25 @@ static int nuttx_getreg_current_thread(struct rtos *rtos,
 static int nuttx_getregs_fromstack(struct rtos *rtos, int64_t thread_id,
 	struct rtos_reg **reg_list, int *num_regs)
 {
-	uint16_t xcpreg_off;
+	uint16_t regs_off;
 	uint32_t regsaddr;
 	const struct nuttx_params *priv = rtos->rtos_specific_params;
 	const struct rtos_register_stacking *stacking = priv->stacking;
 
 	if (!stacking) {
-		if (priv->select_stackinfo) {
-			stacking = priv->select_stackinfo(rtos->target);
-		} else {
-			LOG_ERROR("Can't find a way to get stacking info");
-			return ERROR_FAIL;
-		}
+		LOG_ERROR("Can't find a way to get stacking info");
+		return ERROR_FAIL;
 	}
 
 	int ret = target_read_u16(rtos->target,
 		rtos->symbols[NX_SYM_TCB_INFO].address + offsetof(struct tcbinfo, regs_off),
-		&xcpreg_off);
+		&regs_off);
 	if (ret != ERROR_OK) {
 		LOG_ERROR("Failed to read registers' offset: ret = %d", ret);
 		return ERROR_FAIL;
 	}
 
-	ret = target_read_u32(rtos->target, thread_id + xcpreg_off, &regsaddr);
+	ret = target_read_u32(rtos->target, thread_id + regs_off, &regsaddr);
 	if (ret != ERROR_OK) {
 		LOG_ERROR("Failed to read registers' address: ret = %d", ret);
 		return ERROR_FAIL;
diff --git a/src/rtos/rtos_nuttx_stackings.c b/src/rtos/rtos_nuttx_stackings.c
index b70cccb33..6faa56a66 100644
--- a/src/rtos/rtos_nuttx_stackings.c
+++ b/src/rtos/rtos_nuttx_stackings.c
@@ -9,62 +9,102 @@
 #include "rtos_nuttx_stackings.h"
 #include "rtos_standard_stackings.h"
 #include <target/riscv/riscv.h>
+#include <helper/bits.h>
 
-/* see arch/arm/include/armv7-m/irq_cmnvector.h */
+/* The cortex_m target uses nuttx_tcbinfo_stack_read which uses a symbol
+ * provided by Nuttx to read the registers from memory and place them directly
+ * in the order we need. This is because the register offsets change with
+ * different versions of Nuttx, FPU vs non-FPU and ARMv7 vs ARMv8.
+ * This allows a single function to work with many versions.
+ */
 static const struct stack_register_offset nuttx_stack_offsets_cortex_m[] = {
-	{ ARMV7M_R0, 0x28, 32 },		/* r0   */
-	{ ARMV7M_R1, 0x2c, 32 },		/* r1   */
-	{ ARMV7M_R2, 0x30, 32 },		/* r2   */
-	{ ARMV7M_R3, 0x34, 32 },		/* r3   */
-	{ ARMV7M_R4, 0x08, 32 },		/* r4   */
-	{ ARMV7M_R5, 0x0c, 32 },		/* r5   */
-	{ ARMV7M_R6, 0x10, 32 },		/* r6   */
-	{ ARMV7M_R7, 0x14, 32 },		/* r7   */
-	{ ARMV7M_R8, 0x18, 32 },		/* r8   */
-	{ ARMV7M_R9, 0x1c, 32 },		/* r9   */
-	{ ARMV7M_R10, 0x20, 32 },		/* r10  */
-	{ ARMV7M_R11, 0x24, 32 },		/* r11  */
-	{ ARMV7M_R12, 0x38, 32 },		/* r12  */
-	{ ARMV7M_R13, 0, 32 },			/* sp   */
-	{ ARMV7M_R14, 0x3c, 32 },		/* lr   */
-	{ ARMV7M_PC, 0x40, 32 },		/* pc   */
-	{ ARMV7M_XPSR, 0x44, 32 },		/* xPSR */
+	{ ARMV7M_R0,    0, 32 },		/* r0   */
+	{ ARMV7M_R1,    4, 32 },		/* r1   */
+	{ ARMV7M_R2,    8, 32 },		/* r2   */
+	{ ARMV7M_R3,   12, 32 },		/* r3   */
+	{ ARMV7M_R4,   16, 32 },		/* r4   */
+	{ ARMV7M_R5,   20, 32 },		/* r5   */
+	{ ARMV7M_R6,   24, 32 },		/* r6   */
+	{ ARMV7M_R7,   28, 32 },		/* r7   */
+	{ ARMV7M_R8,   32, 32 },		/* r8   */
+	{ ARMV7M_R9,   36, 32 },		/* r9   */
+	{ ARMV7M_R10,  40, 32 },		/* r10  */
+	{ ARMV7M_R11,  44, 32 },		/* r11  */
+	{ ARMV7M_R12,  48, 32 },		/* r12  */
+	{ ARMV7M_R13,  52, 32 },		/* sp   */
+	{ ARMV7M_R14,  56, 32 },		/* lr   */
+	{ ARMV7M_PC,   60, 32 },		/* pc   */
+	{ ARMV7M_XPSR, 64, 32 },		/* xPSR */
 };
 
+/* The Nuttx stack frame for most architectures has some registers placed
+ * by hardware and some by software. The hardware register order and number does not change
+ * but the software registers may change with different versions of Nuttx.
+ * For example with ARMv7, nuttx-12.3.0 added a new register which changed all
+ * the offsets. We can either create separate offset tables for each version of Nuttx
+ * which will break again in the future, or read the offsets from the TCB info.
+ * Nuttx provides a symbol (g_reg_offs) which holds all the offsets for each stored register.
+ * This offset table is stored in GDB org.gnu.gdb.xxx feature order.
+ * The same order we need.
+ * Please refer:
+ * https://sourceware.org/gdb/current/onlinedocs/gdb/ARM-Features.html
+ * https://sourceware.org/gdb/current/onlinedocs/gdb/RISC_002dV-Features.html
+ */
+static int nuttx_cortex_m_tcbinfo_stack_read(struct target *target,
+	int64_t stack_ptr, const struct rtos_register_stacking *stacking,
+	uint8_t *stack_data)
+{
+	struct rtos *rtos = target->rtos;
+	target_addr_t xcpreg_off = rtos->symbols[NX_SYM_REG_OFFSETS].address;
+
+	for (int i = 0; i < stacking->num_output_registers; ++i) {
+		uint16_t stack_reg_offset;
+		int ret = target_read_u16(rtos->target, xcpreg_off + 2 * i, &stack_reg_offset);
+		if (ret != ERROR_OK) {
+			LOG_ERROR("Failed to read stack_reg_offset: ret = %d", ret);
+			return ret;
+		}
+		if (stack_reg_offset != UINT16_MAX && stacking->register_offsets[i].offset >= 0) {
+			ret = target_read_buffer(target,
+				stack_ptr + stack_reg_offset,
+				stacking->register_offsets[i].width_bits / 8,
+				&stack_data[stacking->register_offsets[i].offset]);
+			if (ret != ERROR_OK) {
+				LOG_ERROR("Failed to read register: ret = %d", ret);
+				return ret;
+			}
+		}
+	}
+
+	/* Offset match nuttx_stack_offsets_cortex_m */
+	const int XPSR_OFFSET = 64;
+	const int SP_OFFSET = 52;
+	/* Nuttx stack frames (produced in exception_common) store the SP of the ISR minus
+	 * the hardware stack frame size. This SP may include an additional 4 byte alignment
+	 * depending in xPSR[9]. The Nuttx stack frame stores post alignment since the
+	 * hardware will add/remove automatically on both enter/exit.
+	 * We need to adjust the SP to get the real SP of the stack.
+	 * See Arm Reference manual "Stack alignment on exception entry"
+	 */
+	uint32_t xpsr = target_buffer_get_u32(target, &stack_data[XPSR_OFFSET]);
+	if (xpsr & BIT(9)) {
+		uint32_t sp = target_buffer_get_u32(target, &stack_data[SP_OFFSET]);
+		target_buffer_set_u32(target, &stack_data[SP_OFFSET], sp - 4 * stacking->stack_growth_direction);
+	}
+
+	return ERROR_OK;
+}
+
 const struct rtos_register_stacking nuttx_stacking_cortex_m = {
-	.stack_registers_size = 0x48,
+	/* nuttx_tcbinfo_stack_read transforms the stack into just output registers */
+	.stack_registers_size = ARRAY_SIZE(nuttx_stack_offsets_cortex_m) * 4,
 	.stack_growth_direction = -1,
-	.num_output_registers = 17,
+	.num_output_registers = ARRAY_SIZE(nuttx_stack_offsets_cortex_m),
+	.read_stack = nuttx_cortex_m_tcbinfo_stack_read,
+	.calculate_process_stack = NULL, /* Stack alignment done in nuttx_cortex_m_tcbinfo_stack_read */
 	.register_offsets = nuttx_stack_offsets_cortex_m,
 };
 
-static const struct stack_register_offset nuttx_stack_offsets_cortex_m_fpu[] = {
-	{ ARMV7M_R0, 0x6c, 32 },		/* r0   */
-	{ ARMV7M_R1, 0x70, 32 },		/* r1   */
-	{ ARMV7M_R2, 0x74, 32 },		/* r2   */
-	{ ARMV7M_R3, 0x78, 32 },		/* r3   */
-	{ ARMV7M_R4, 0x08, 32 },		/* r4   */
-	{ ARMV7M_R5, 0x0c, 32 },		/* r5   */
-	{ ARMV7M_R6, 0x10, 32 },		/* r6   */
-	{ ARMV7M_R7, 0x14, 32 },		/* r7   */
-	{ ARMV7M_R8, 0x18, 32 },		/* r8   */
-	{ ARMV7M_R9, 0x1c, 32 },		/* r9   */
-	{ ARMV7M_R10, 0x20, 32 },		/* r10  */
-	{ ARMV7M_R11, 0x24, 32 },		/* r11  */
-	{ ARMV7M_R12, 0x7c, 32 },		/* r12  */
-	{ ARMV7M_R13, 0, 32 },			/* sp   */
-	{ ARMV7M_R14, 0x80, 32 },		/* lr   */
-	{ ARMV7M_PC, 0x84, 32 },		/* pc   */
-	{ ARMV7M_XPSR, 0x88, 32 },		/* xPSR */
-};
-
-const struct rtos_register_stacking nuttx_stacking_cortex_m_fpu = {
-	.stack_registers_size = 0x8c,
-	.stack_growth_direction = -1,
-	.num_output_registers = 17,
-	.register_offsets = nuttx_stack_offsets_cortex_m_fpu,
-};
-
 static const struct stack_register_offset nuttx_stack_offsets_riscv[] = {
 	{ GDB_REGNO_ZERO, -1, 32 },
 	{ GDB_REGNO_RA, 0x04, 32 },
diff --git a/src/rtos/rtos_nuttx_stackings.h b/src/rtos/rtos_nuttx_stackings.h
index 213a06033..5d55e7545 100644
--- a/src/rtos/rtos_nuttx_stackings.h
+++ b/src/rtos/rtos_nuttx_stackings.h
@@ -5,6 +5,15 @@
 
 #include "rtos.h"
 
+/* Used to index the list of retrieved symbols. See nuttx_symbol_list for the order. */
+enum nuttx_symbol_vals {
+	NX_SYM_READYTORUN = 0,
+	NX_SYM_PIDHASH,
+	NX_SYM_NPIDHASH,
+	NX_SYM_TCB_INFO,
+	NX_SYM_REG_OFFSETS,
+};
+
 extern const struct rtos_register_stacking nuttx_stacking_cortex_m;
 extern const struct rtos_register_stacking nuttx_stacking_cortex_m_fpu;
 extern const struct rtos_register_stacking nuttx_riscv_stacking;
diff --git a/src/server/gdb_server.c b/src/server/gdb_server.c
index 6c4931b07..85531377d 100644
--- a/src/server/gdb_server.c
+++ b/src/server/gdb_server.c
@@ -1838,18 +1838,9 @@ static int gdb_breakpoint_watchpoint_packet(struct connection *connection,
 						return ERROR_FAIL;
 				}
 				retval = breakpoint_add(target, address, size, bp_type);
-				if (retval == ERROR_NOT_IMPLEMENTED) {
-					/* Send empty reply to report that breakpoints of this type are not supported */
-					gdb_put_packet(connection, "", 0);
-				} else if (retval != ERROR_OK) {
-					retval = gdb_error(connection, retval);
-					if (retval != ERROR_OK)
-						return retval;
-				} else
-					gdb_put_packet(connection, "OK", 2);
 			} else {
-				breakpoint_remove(target, address);
-				gdb_put_packet(connection, "OK", 2);
+				assert(packet[0] == 'z');
+				retval = breakpoint_remove(target, address);
 			}
 			break;
 		case 2:
@@ -1858,26 +1849,26 @@ static int gdb_breakpoint_watchpoint_packet(struct connection *connection,
 		{
 			if (packet[0] == 'Z') {
 				retval = watchpoint_add(target, address, size, wp_type, 0, WATCHPOINT_IGNORE_DATA_VALUE_MASK);
-				if (retval == ERROR_NOT_IMPLEMENTED) {
-					/* Send empty reply to report that watchpoints of this type are not supported */
-					gdb_put_packet(connection, "", 0);
-				} else if (retval != ERROR_OK) {
-					retval = gdb_error(connection, retval);
-					if (retval != ERROR_OK)
-						return retval;
-				} else
-					gdb_put_packet(connection, "OK", 2);
 			} else {
-				watchpoint_remove(target, address);
-				gdb_put_packet(connection, "OK", 2);
+				assert(packet[0] == 'z');
+				retval = watchpoint_remove(target, address);
 			}
 			break;
 		}
 		default:
+		{
+			retval = ERROR_NOT_IMPLEMENTED;
 			break;
+		}
 	}
 
-	return ERROR_OK;
+	if (retval == ERROR_NOT_IMPLEMENTED) {
+		/* Send empty reply to report that watchpoints of this type are not supported */
+		return gdb_put_packet(connection, "", 0);
+	}
+	if (retval != ERROR_OK)
+		return gdb_error(connection, retval);
+	return gdb_put_packet(connection, "OK", 2);
 }
 
 /* print out a string and allocate more space as needed,
diff --git a/src/server/startup.tcl b/src/server/startup.tcl
index ebfb0562e..cf3eca36e 100644
--- a/src/server/startup.tcl
+++ b/src/server/startup.tcl
@@ -113,3 +113,9 @@ proc "tcl_trace" {state} {
 	echo "DEPRECATED! use 'tcl trace' not 'tcl_trace'"
 	eval tcl trace $state
 }
+
+lappend _telnet_autocomplete_skip "telnet_port"
+proc "telnet_port" {args} {
+	echo "DEPRECATED! use 'telnet port', not 'telnet_port'"
+	eval telnet port $args
+}
diff --git a/src/server/telnet_server.c b/src/server/telnet_server.c
index 02d450fbd..a596afef0 100644
--- a/src/server/telnet_server.c
+++ b/src/server/telnet_server.c
@@ -967,7 +967,6 @@ int telnet_init(char *banner)
 	return ERROR_OK;
 }
 
-/* daemon configuration command telnet_port */
 COMMAND_HANDLER(handle_telnet_port_command)
 {
 	return CALL_COMMAND_HANDLER(server_pipe_command, &telnet_port);
@@ -978,6 +977,19 @@ COMMAND_HANDLER(handle_exit_command)
 	return ERROR_COMMAND_CLOSE_CONNECTION;
 }
 
+static const struct command_registration telnet_subcommand_handlers[] = {
+	{
+		.name = "port",
+		.handler = handle_telnet_port_command,
+		.mode = COMMAND_CONFIG,
+		.help = "Specify port on which to listen "
+			"for incoming telnet connections.  "
+			"Read help on 'gdb port'.",
+		.usage = "[port_num]",
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
 static const struct command_registration telnet_command_handlers[] = {
 	{
 		.name = "exit",
@@ -987,13 +999,11 @@ static const struct command_registration telnet_command_handlers[] = {
 		.help = "exit telnet session",
 	},
 	{
-		.name = "telnet_port",
-		.handler = handle_telnet_port_command,
+		.name = "telnet",
+		.chain = telnet_subcommand_handlers,
 		.mode = COMMAND_CONFIG,
-		.help = "Specify port on which to listen "
-			"for incoming telnet connections.  "
-			"Read help on 'gdb port'.",
-		.usage = "[port_num]",
+		.help = "telnet commands",
+		.usage = "",
 	},
 	COMMAND_REGISTRATION_DONE
 };
diff --git a/src/svf/svf.c b/src/svf/svf.c
index dd3d5175c..470889948 100644
--- a/src/svf/svf.c
+++ b/src/svf/svf.c
@@ -932,7 +932,7 @@ static int svf_check_tdo(void)
 		index_var = svf_check_tdo_para[i].buffer_offset;
 		len = svf_check_tdo_para[i].bit_len;
 		if ((svf_check_tdo_para[i].enabled)
-				&& buf_cmp_mask(&svf_tdi_buffer[index_var], &svf_tdo_buffer[index_var],
+				&& !buf_eq_mask(&svf_tdi_buffer[index_var], &svf_tdo_buffer[index_var],
 				&svf_mask_buffer[index_var], len)) {
 			LOG_ERROR("tdo check error at line %d",
 				svf_check_tdo_para[i].line_num);
diff --git a/src/target/aarch64.c b/src/target/aarch64.c
index 6a70b2ddf..f0d486f58 100644
--- a/src/target/aarch64.c
+++ b/src/target/aarch64.c
@@ -193,6 +193,20 @@ static int aarch64_mmu_modify(struct target *target, int enable)
 	return retval;
 }
 
+static int aarch64_read_prsr(struct target *target, uint32_t *prsr)
+{
+	struct armv8_common *armv8 = target_to_armv8(target);
+	int retval;
+
+	retval = mem_ap_read_atomic_u32(armv8->debug_ap,
+			armv8->debug_base + CPUV8_DBG_PRSR, prsr);
+	if (retval != ERROR_OK)
+		return retval;
+
+	armv8->sticky_reset |= *prsr & PRSR_SR;
+	return ERROR_OK;
+}
+
 /*
  * Basic debug access, very low level assumes state is saved
  */
@@ -213,8 +227,7 @@ static int aarch64_init_debug_access(struct target *target)
 
 	/* Clear Sticky Power Down status Bit in PRSR to enable access to
 	   the registers in the Core Power Domain */
-	retval = mem_ap_read_atomic_u32(armv8->debug_ap,
-			armv8->debug_base + CPUV8_DBG_PRSR, &dummy);
+	retval = aarch64_read_prsr(target, &dummy);
 	if (retval != ERROR_OK)
 		return retval;
 
@@ -281,12 +294,10 @@ static int aarch64_set_dscr_bits(struct target *target, unsigned long bit_mask,
 static int aarch64_check_state_one(struct target *target,
 		uint32_t mask, uint32_t val, int *p_result, uint32_t *p_prsr)
 {
-	struct armv8_common *armv8 = target_to_armv8(target);
 	uint32_t prsr;
 	int retval;
 
-	retval = mem_ap_read_atomic_u32(armv8->debug_ap,
-			armv8->debug_base + CPUV8_DBG_PRSR, &prsr);
+	retval = aarch64_read_prsr(target, &prsr);
 	if (retval != ERROR_OK)
 		return retval;
 
@@ -506,16 +517,28 @@ static int update_halt_gdb(struct target *target, enum target_debug_reason debug
 
 static int aarch64_poll(struct target *target)
 {
+	struct armv8_common *armv8 = target_to_armv8(target);
 	enum target_state prev_target_state;
 	int retval = ERROR_OK;
-	int halted;
+	uint32_t prsr;
 
-	retval = aarch64_check_state_one(target,
-				PRSR_HALT, PRSR_HALT, &halted, NULL);
+	retval = aarch64_read_prsr(target, &prsr);
 	if (retval != ERROR_OK)
 		return retval;
 
-	if (halted) {
+	if (armv8->sticky_reset) {
+		armv8->sticky_reset = false;
+		if (target->state != TARGET_RESET) {
+			target->state = TARGET_RESET;
+			LOG_TARGET_INFO(target, "external reset detected");
+			if (armv8->arm.core_cache) {
+				register_cache_invalidate(armv8->arm.core_cache);
+				register_cache_invalidate(armv8->arm.core_cache->next);
+			}
+		}
+	}
+
+	if (prsr & PRSR_HALT) {
 		prev_target_state = target->state;
 		if (prev_target_state != TARGET_HALTED) {
 			enum target_debug_reason debug_reason = target->debug_reason;
@@ -546,8 +569,11 @@ static int aarch64_poll(struct target *target)
 				break;
 			}
 		}
-	} else
+	} else if (prsr & PRSR_RESET) {
+		target->state = TARGET_RESET;
+	} else {
 		target->state = TARGET_RUNNING;
+	}
 
 	return retval;
 }
@@ -663,8 +689,7 @@ static int aarch64_prepare_restart_one(struct target *target)
 
 	if (retval == ERROR_OK) {
 		/* clear sticky bits in PRSR, SDR is now 0 */
-		retval = mem_ap_read_atomic_u32(armv8->debug_ap,
-				armv8->debug_base + CPUV8_DBG_PRSR, &tmp);
+		retval = aarch64_read_prsr(target, &tmp);
 	}
 
 	return retval;
diff --git a/src/target/armv8.h b/src/target/armv8.h
index f5aa21109..156b5f8bb 100644
--- a/src/target/armv8.h
+++ b/src/target/armv8.h
@@ -213,6 +213,8 @@ struct armv8_common {
 	/* True if OpenOCD provides pointer auth related info to GDB */
 	bool enable_pauth;
 
+	bool sticky_reset;
+
 	/* last run-control command issued to this target (resume, halt, step) */
 	enum run_control_op last_run_control_op;
 
diff --git a/src/target/riscv/riscv-013.c b/src/target/riscv/riscv-013.c
index 7bef955e5..f3dda0287 100644
--- a/src/target/riscv/riscv-013.c
+++ b/src/target/riscv/riscv-013.c
@@ -357,8 +357,8 @@ static void select_dmi(struct target *target)
 		select_dmi_via_bscan(target);
 		return;
 	}
-	if (buf_cmp(target->tap->cur_instr, select_dbus.out_value,
-				target->tap->ir_length) == 0)
+	if (buf_eq(target->tap->cur_instr, select_dbus.out_value,
+				target->tap->ir_length))
 		return;
 	jtag_add_ir_scan(target->tap, &select_dbus, TAP_IDLE);
 }