Understanding Flash Programming of LPC1768 via JTAG

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Joined Jul 3, 2017
I'd like to understand the process required to flash program firmware on the LPC1768 via JTAG.

I found this document, which explains the debug interface architecture, although I'm struggling to understand most of it.

Here is how I understand the process (from a very high level):

Using Debug Mode Select, stop on Shift-IR, where an instruction register can be entered. In this case, 0b1011 (AP Access Register) is entered. At this point, the program can be loaded word by word through the DRW and TAR registers.

Is any of this correct? Could somebody provide me with a more detailed run-through of what actually happens, specifically what registers need to be accessed, etc?