tcl/board/ti_*_swd_native.cfg: Add support for direct memory access via SW

Add support for SWD emulation as a transport method for
direct memory operations of boards TI AM64x and TI J784s4

Change-Id: I17fe9b2bef5c58886625bfdb88d92645ba4d7da7
Signed-off-by: Joao Lima <joao.lima@hbkworld.com>
Reviewed-on: https://review.openocd.org/c/openocd/+/9020
Reviewed-by: Antonio Borneo <borneo.antonio@gmail.com>
Tested-by: jenkins
Reviewed-by: Nishanth Menon <nm@ti.com>

tcl/board/ti_am64xx_swd_native.cfg

@@ -0,0 +1,23 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+# Copyright (C) 2022-2023 Texas Instruments Incorporated - http://www.ti.com/
+#
+# Texas Instruments am642
+# Link: https://www.ti.com/product/AM642
+#
+# This configuration file is used as a self hosted debug configuration that
+# works on every AM642 platform based on firewall configuration permitted
+# in the system.
+#
+# In this system openOCD runs on one of the CPUs inside AM625 and provides
+# network ports that can then be used to debug the microcontrollers on the
+# SoC - either self hosted IDE OR remotely.
+
+# We are using dmem, which uses dapdirect_swd transport
+adapter driver dmem
+transport select swd
+
+if { ![info exists SOC] } {
+	set SOC am642
+}
+
+source [find target/ti_k3.cfg]