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Add support for microcontrollers with multiple APs, such as STM32H5 #27

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STM32H5 microcontrollers have two different debug access ports, with AP0 being connected only to DBGMCU block. Currently pyswd cannot handle these MCUs at all. This PR adds support for multi-AP chips, along with basic documentation on how to use it.

@makkarpov makkarpov force-pushed the master branch 2 times, most recently from acb8a47 to 6cd03db Compare October 10, 2023 20:12
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Routines that used built-in ST-Link functions for high level tasks are adapted for AP awareness.
Such routines fall back to raw memory accesses (which could be slower) when non-zero AP is selected.
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@pavelrevak ping?

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