diff --git a/src/include/jtagtap.h b/src/include/jtagtap.h
index 3011a54..f62da28 100644
--- a/src/include/jtagtap.h
+++ b/src/include/jtagtap.h
@@ -50,6 +50,13 @@ typedef struct jtag_proc_s {
 	void (*jtagtap_tdi_tdo_seq)(uint8_t *data_out, const bool final_tms, const uint8_t *data_in, size_t clock_cycles);
 	void (*jtagtap_tdi_seq)(const bool final_tms, const uint8_t *data_in, size_t clock_cycles);
 	void (*jtagtap_cycle)(const bool tms, const bool tdi, const size_t clock_cycles);
+
+	/*
+	 * Some debug controllers such as the RISC-V debug controller use idle
+	 * cycles during operations as part of their function, while others
+	 * allow the desirable skipping of the entire state under some circumstances.
+	 */
+	uint8_t tap_idle_cycles;
 } jtag_proc_t;
 
 extern jtag_proc_t jtag_proc;
@@ -64,7 +71,7 @@ extern jtag_proc_t jtag_proc;
 #define jtagtap_shift_dr() jtag_proc.jtagtap_tms_seq(0x01, 3)
 
 /* Goto Run-test/Idle: 1, 1, 0 */
-#define jtagtap_return_idle() jtag_proc.jtagtap_tms_seq(0x01, 2)
+#define jtagtap_return_idle(cycles) jtag_proc.jtagtap_tms_seq(0x01, (cycles) + 1U)
 
 #if PC_HOSTED == 1
 int platform_jtagtap_init(void);
diff --git a/src/platforms/common/jtagtap.c b/src/platforms/common/jtagtap.c
index 9832b6f..2a2b13d 100644
--- a/src/platforms/common/jtagtap.c
+++ b/src/platforms/common/jtagtap.c
@@ -45,6 +45,7 @@ int jtagtap_init()
 	jtag_proc.jtagtap_tdi_tdo_seq = jtagtap_tdi_tdo_seq;
 	jtag_proc.jtagtap_tdi_seq = jtagtap_tdi_seq;
 	jtag_proc.jtagtap_cycle = jtagtap_cycle;
+	jtag_proc.tap_idle_cycles = 1;
 
 	/* Go to JTAG mode for SWJ-DP */
 	for (size_t i = 0; i <= 50U; ++i)
diff --git a/src/target/jtag_scan.c b/src/target/jtag_scan.c
index 4addc49..d96e485 100644
--- a/src/target/jtag_scan.c
+++ b/src/target/jtag_scan.c
@@ -146,7 +146,7 @@ int jtag_scan(const uint8_t *irlens)
 
 	DEBUG_INFO("Return to Run-Test/Idle\n");
 	jtag_proc.jtagtap_next(1, 1);
-	jtagtap_return_idle();
+	jtagtap_return_idle(1);
 
 	/* All devices should be in BYPASS now */
 
@@ -165,7 +165,7 @@ int jtag_scan(const uint8_t *irlens)
 
 	DEBUG_INFO("Return to Run-Test/Idle\n");
 	jtag_proc.jtagtap_next(1, 1);
-	jtagtap_return_idle();
+	jtagtap_return_idle(1);
 	if(!jtag_dev_count) {
 		return 0;
 	}
@@ -187,7 +187,7 @@ int jtag_scan(const uint8_t *irlens)
 	}
 	DEBUG_INFO("Return to Run-Test/Idle\n");
 	jtag_proc.jtagtap_next(1, 1);
-	jtagtap_return_idle();
+	jtagtap_return_idle(jtag_proc.tap_idle_cycles);
 #if PC_HOSTED == 1
 	/*Transfer needed device information to firmware jtag_devs*/
 	for(i = 0; i < jtag_dev_count; i++)
@@ -235,7 +235,7 @@ void jtag_dev_write_ir(jtag_proc_t *jp, uint8_t jd_index, uint32_t ir)
 	jp->jtagtap_tdi_seq(0, ones, d->ir_prescan);
 	jp->jtagtap_tdi_seq(d->ir_postscan?0:1, (void*)&ir, d->ir_len);
 	jp->jtagtap_tdi_seq(1, ones, d->ir_postscan);
-	jtagtap_return_idle();
+	jtagtap_return_idle(1);
 }
 
 void jtag_dev_shift_dr(jtag_proc_t *jp, uint8_t jd_index, uint8_t *dout, const uint8_t *din, int ticks)
@@ -248,6 +248,5 @@ void jtag_dev_shift_dr(jtag_proc_t *jp, uint8_t jd_index, uint8_t *dout, const u
 	else
 		jp->jtagtap_tdi_seq(d->dr_postscan?0:1, (void*)din, ticks);
 	jp->jtagtap_tdi_seq(1, ones, d->dr_postscan);
-	jtagtap_return_idle();
+	jtagtap_return_idle(1);
 }
-