+@anchor{dapdeclaration}
+@section DAP declaration (ARMv7 and ARMv8 targets)
+@cindex DAP declaration
+
+Since OpenOCD version 0.11.0, the Debug Access Port (DAP) is
+no longer implicitly created together with the target. It must be
+explicitly declared using the @command{dap create} command. For all
+ARMv7 and ARMv8 targets, the option "@option{-dap} @var{dap_name}" has to be used
+instead of "@option{-chain-position} @var{dotted.name}" when the target is created.
+
+The @command{dap} command group supports the following sub-commands:
+
+@deffn Command {dap create} dap_name @option{-chain-position} dotted.name configparams...
+Declare a DAP instance named @var{dap_name} linked to the JTAG tap
+@var{dotted.name}. This also creates a new command (@command{dap_name})
+which is used for various purposes including additional configuration.
+There can only be one DAP for each JTAG tap in the system.
+
+A DAP may also provide optional @var{configparams}:
+
+@itemize @bullet
+@item @code{-ignore-syspwrupack}
+@*Specify this to ignore the CSYSPWRUPACK bit in the ARM DAP DP CTRL/STAT
+register during initial examination and when checking the sticky error bit.
+This bit is normally checked after setting the CSYSPWRUPREQ bit, but some
+devices do not set the ack bit until sometime later.
+@end itemize
+@end deffn
+
+@deffn Command {dap names}
+This command returns a list of all registered DAP objects. It it useful mainly
+for TCL scripting.
+@end deffn
+
+@deffn Command {dap info} [num]
+Displays the ROM table for MEM-AP @var{num},
+defaulting to the currently selected AP of the currently selected target.
+@end deffn
+
+@deffn Command {dap init}
+Initialize all registered DAPs. This command is used internally
+during initialization. It can be issued at any time after the
+initialization, too.
+@end deffn
+
+The following commands exist as subcommands of DAP instances:
+
+@deffn Command {$dap_name info} [num]
+Displays the ROM table for MEM-AP @var{num},
+defaulting to the currently selected AP.
+@end deffn
+
+@deffn Command {$dap_name apid} [num]
+Displays ID register from AP @var{num}, defaulting to the currently selected AP.
+@end deffn
+
+@anchor{DAP subcommand apreg}
+@deffn Command {$dap_name apreg} ap_num reg [value]
+Displays content of a register @var{reg} from AP @var{ap_num}
+or set a new value @var{value}.
+@var{reg} is byte address of a word register, 0, 4, 8 ... 0xfc.
+@end deffn
+
+@deffn Command {$dap_name apsel} [num]
+Select AP @var{num}, defaulting to 0.
+@end deffn
+
+@deffn Command {$dap_name dpreg} reg [value]
+Displays the content of DP register at address @var{reg}, or set it to a new
+value @var{value}.
+
+In case of SWD, @var{reg} is a value in packed format
+@math{dpbanksel << 4 | addr} and assumes values 0, 4, 8 ... 0xfc.
+In case of JTAG it only assumes values 0, 4, 8 and 0xc.
+
+@emph{Note:} Consider using @command{poll off} to avoid any disturbing
+background activity by OpenOCD while you are operating at such low-level.
+@end deffn
+
+@deffn Command {$dap_name baseaddr} [num]
+Displays debug base address from MEM-AP @var{num},
+defaulting to the currently selected AP.
+@end deffn
+
+@deffn Command {$dap_name memaccess} [value]
+Displays the number of extra tck cycles in the JTAG idle to use for MEM-AP
+memory bus access [0-255], giving additional time to respond to reads.
+If @var{value} is defined, first assigns that.
+@end deffn
+
+@deffn Command {$dap_name apcsw} [value [mask]]
+Displays or changes CSW bit pattern for MEM-AP transfers.
+
+At the begin of each memory access the CSW pattern is extended (bitwise or-ed)
+by @dfn{Size} and @dfn{AddrInc} bit-fields according to transfer requirements
+and the result is written to the real CSW register. All bits except dynamically
+updated fields @dfn{Size} and @dfn{AddrInc} can be changed by changing
+the CSW pattern. Refer to ARM ADI v5 manual chapter 7.6.4 and appendix A
+for details.
+
+Use @var{value} only syntax if you want to set the new CSW pattern as a whole.
+The example sets HPROT1 bit (required by Cortex-M) and clears the rest of
+the pattern:
+@example
+kx.dap apcsw 0x2000000
+@end example
+
+If @var{mask} is also used, the CSW pattern is changed only on bit positions
+where the mask bit is 1. The following example sets HPROT3 (cacheable)
+and leaves the rest of the pattern intact. It configures memory access through
+DCache on Cortex-M7.
+@example
+set CSW_HPROT3_CACHEABLE [expr 1 << 27]
+samv.dap apcsw $CSW_HPROT3_CACHEABLE $CSW_HPROT3_CACHEABLE
+@end example
+
+Another example clears SPROT bit and leaves the rest of pattern intact:
+@example
+set CSW_SPROT [expr 1 << 30]
+samv.dap apcsw 0 $CSW_SPROT
+@end example
+
+@emph{Note:} If you want to check the real value of CSW, not CSW pattern, use
+@code{xxx.dap apreg 0}. @xref{DAP subcommand apreg,,}.
+
+@emph{Warning:} Some of the CSW bits are vital for working memory transfer.
+If you set a wrong CSW pattern and MEM-AP stopped working, use the following
+example with a proper dap name:
+@example
+xxx.dap apcsw default
+@end example
+@end deffn
+
+@deffn Command {$dap_name ti_be_32_quirks} [@option{enable}]
+Set/get quirks mode for TI TMS450/TMS570 processors
+Disabled by default
+@end deffn
+
+