target: restructure dap support

- add 'dap create' command to create dap instances
- move all dap subcmmand into the dap instance commands
- keep 'dap info' for convenience
- change all armv7 and armv8 targets to take a dap
  instance instead of a jtag chain position
- restructure tap/dap/target relations, jtag tap no
  longer references the dap, daps are now independently
  created and initialized.
- clean up swd connect
- re-initialize DAP also on JTAG errors (e.g. after reset,
  power cycle)
- update documentation
- update target files

Change-Id: I322cf3969b5407c25d1d3962f9d9b9bc1df067d9
Signed-off-by: Matthias Welwarsky <matthias.welwarsky@sysgo.com>
Reviewed-on: http://openocd.zylin.com/4468
Tested-by: jenkins
Reviewed-by: Matthias Welwarsky <matthias@welwarsky.de>

src/jtag/core.c

@@ -1315,7 +1315,6 @@ void jtag_tap_free(struct jtag_tap *tap)
 	free(tap->chip);
 	free(tap->tapname);
 	free(tap->dotted_name);
-	free(tap->dap);
 	free(tap);
 }
 
@@ -1487,6 +1486,8 @@ int adapter_quit(void)
 		t = n;
 	}
 
+	dap_cleanup_all();
+
 	return ERROR_OK;
 }
 

src/jtag/jtag.h

@@ -153,8 +153,6 @@ struct jtag_tap {
 	struct jtag_tap_event_action *event_action;
 
 	struct jtag_tap *next_tap;
-	/* dap instance if some null if no instance , initialized to 0 by calloc*/
-	struct adiv5_dap *dap;
 	/* private pointer to support none-jtag specific functions */
 	void *priv;
 };