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/openocd.c

@@ -38,6 +38,7 @@
 #include <pld/pld.h>
 #include <flash/mflash.h>
 #include <target/arm_cti.h>
+#include <target/arm_adi_v5.h>
 
 #include <server/server.h>
 #include <server/gdb_server.h>
@@ -151,6 +152,10 @@ COMMAND_HANDLER(handle_init_command)
 	if (ERROR_OK != retval)
 		return ERROR_FAIL;
 
+	retval = command_run_line(CMD_CTX, "dap init");
+	if (ERROR_OK != retval)
+		return ERROR_FAIL;
+
 	LOG_DEBUG("Examining targets...");
 	if (target_examine() != ERROR_OK)
 		LOG_DEBUG("target examination failed");
@@ -254,6 +259,7 @@ struct command_context *setup_command_handler(Jim_Interp *interp)
 		&pld_register_commands,
 		&mflash_register_commands,
 		&cti_register_commands,
+		&dap_register_commands,
 		NULL
 	};
 	for (unsigned i = 0; NULL != command_registrants[i]; i++) {