tcl: convert transport select to jtag and swd

Convert every transport select command:
- hla_swd -> swd
- dapdirect_swd -> swd
- hla_jtag -> jtag
- dapdirect_jtag -> jtag

Change-Id: I81971e06f7aefd21a570a4e098cf3822a775464b
Signed-off-by: Antonio Borneo <borneo.antonio@gmail.com>
Reviewed-on: https://review.openocd.org/c/openocd/+/8678
Reviewed-by: zapb <dev@zapb.de>
Tested-by: jenkins

tcl/board/ti_ek-tm4c1294xl.cfg

@@ -8,7 +8,7 @@
 
 source [find interface/ti-icdi.cfg]
 
-transport select hla_jtag
+transport select jtag
 
 set WORKAREASIZE 0x8000
 set CHIPNAME tm4c1294ncpdt