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/target/hla_target.c

@@ -365,12 +365,16 @@ static int adapter_target_create(struct target *target,
 		Jim_Interp *interp)
 {
 	LOG_DEBUG("%s", __func__);
-
+	struct adiv5_private_config *pc = target->private_config;
 	struct cortex_m_common *cortex_m = calloc(1, sizeof(struct cortex_m_common));
-
 	if (!cortex_m)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
+	if (pc != NULL && pc->ap_num > 0) {
+		LOG_ERROR("hla_target: invalid parameter -ap-num (> 0)");
+		return ERROR_FAIL;
+	}
+
 	adapter_init_arch_info(target, cortex_m, target->tap);
 
 	return ERROR_OK;
@@ -801,6 +805,7 @@ struct target_type hla_target = {
 	.init_target = adapter_init_target,
 	.deinit_target = cortex_m_deinit_target,
 	.target_create = adapter_target_create,
+	.target_jim_configure = adiv5_jim_configure,
 	.examine = cortex_m_examine,
 	.commands = adapter_command_handlers,