Add SWD/DAP subsystem with DP/AP register access and AP enumeration

10th subsystem: session.swd provides DAP discovery, DP/AP register
read/write, AP enumeration, and convenience methods (dpidr, target_id).
Includes SWDError, DAPInfo, APInfo types, input validation, ADIv5/v6
AP classification, and 24 mock-only tests covering happy and error paths.

src/openocd/__init__.py

@@ -7,14 +7,17 @@ from openocd.errors import (
     OpenOCDError,
     ProcessError,
     SVDError,
+    SWDError,
     TargetError,
     TargetNotHaltedError,
     TimeoutError,
 )
 from openocd.session import Session, SyncSession
 from openocd.types import (
+    APInfo,
     BitField,
     Breakpoint,
+    DAPInfo,
     DecodedRegister,
     FlashBank,
     FlashSector,
@@ -32,8 +35,10 @@ __all__ = [
     "Session",
     "SyncSession",
     # Types
+    "APInfo",
     "BitField",
     "Breakpoint",
+    "DAPInfo",
     "DecodedRegister",
     "FlashBank",
     "FlashSector",
@@ -51,6 +56,7 @@ __all__ = [
     "OpenOCDError",
     "ProcessError",
     "SVDError",
+    "SWDError",
     "TargetError",
     "TargetNotHaltedError",
     "TimeoutError",

src/openocd/errors.py

@@ -39,5 +39,9 @@ class SVDError(OpenOCDError):
     """SVD file not found, failed to parse, or lookup error."""
 
 
+class SWDError(OpenOCDError):
+    """Raised when an SWD/DAP operation fails."""
+
+
 class ProcessError(OpenOCDError):
     """OpenOCD subprocess failed to start or exited unexpectedly."""

src/openocd/session.py

@@ -23,6 +23,7 @@ if TYPE_CHECKING:
     from openocd.registers import Registers, SyncRegisters
     from openocd.rtt import RTTManager
     from openocd.svd import SVDManager, SyncSVDManager
+    from openocd.swd import SWDController, SyncSWDController
     from openocd.target import SyncTarget, Target
     from openocd.transport import Transport
 
@@ -40,6 +41,7 @@ class Session:
         self._registers: Registers | None = None
         self._flash: Flash | None = None
         self._jtag: JTAGController | None = None
+        self._swd: SWDController | None = None
         self._breakpoints: BreakpointManager | None = None
         self._rtt: RTTManager | None = None
         self._svd: SVDManager | None = None
@@ -145,6 +147,7 @@ class Session:
     def target(self) -> Target:
         if self._target is None:
             from openocd.target import Target
+
             self._target = Target(self._conn)
         return self._target
 
@@ -152,6 +155,7 @@ class Session:
     def memory(self) -> Memory:
         if self._memory is None:
             from openocd.memory import Memory
+
             self._memory = Memory(self._conn)
         return self._memory
 
@@ -159,6 +163,7 @@ class Session:
     def registers(self) -> Registers:
         if self._registers is None:
             from openocd.registers import Registers
+
             self._registers = Registers(self._conn)
         return self._registers
 
@@ -166,6 +171,7 @@ class Session:
     def flash(self) -> Flash:
         if self._flash is None:
             from openocd.flash import Flash
+
             self._flash = Flash(self._conn)
         return self._flash
 
@@ -173,13 +179,23 @@ class Session:
     def jtag(self) -> JTAGController:
         if self._jtag is None:
             from openocd.jtag import JTAGController
+
             self._jtag = JTAGController(self._conn)
         return self._jtag
 
+    @property
+    def swd(self) -> SWDController:
+        if self._swd is None:
+            from openocd.swd import SWDController
+
+            self._swd = SWDController(self._conn)
+        return self._swd
+
     @property
     def breakpoints(self) -> BreakpointManager:
         if self._breakpoints is None:
             from openocd.breakpoints import BreakpointManager
+
             self._breakpoints = BreakpointManager(self._conn)
         return self._breakpoints
 
@@ -187,6 +203,7 @@ class Session:
     def rtt(self) -> RTTManager:
         if self._rtt is None:
             from openocd.rtt import RTTManager
+
             self._rtt = RTTManager(self._conn)
         return self._rtt
 
@@ -194,6 +211,7 @@ class Session:
     def svd(self) -> SVDManager:
         if self._svd is None:
             from openocd.svd import SVDManager
+
             self._svd = SVDManager(self._conn, self.memory)
         return self._svd
 
@@ -201,6 +219,7 @@ class Session:
     def transport(self) -> Transport:
         if self._transport is None:
             from openocd.transport import Transport
+
             self._transport = Transport(self._conn)
         return self._transport
 
@@ -210,16 +229,20 @@ class Session:
 
     def on_halt(self, callback: Callable[[str], None]) -> None:
         """Register a callback for target halt events."""
+
         def _filter(msg: str) -> None:
             if "halted" in msg.lower():
                 callback(msg)
+
         self._conn.on_notification(_filter)
 
     def on_reset(self, callback: Callable[[str], None]) -> None:
         """Register a callback for target reset events."""
+
         def _filter(msg: str) -> None:
             if "reset" in msg.lower():
                 callback(msg)
+
         self._conn.on_notification(_filter)
 
 
@@ -227,6 +250,7 @@ class Session:
 # Sync wrapper
 # ======================================================================
 
+
 class SyncSession:
     """Wraps an async Session for synchronous use."""
 
@@ -238,6 +262,7 @@ class SyncSession:
         self._registers: SyncRegisters | None = None
         self._flash: SyncFlash | None = None
         self._jtag: SyncJTAGController | None = None
+        self._swd: SyncSWDController | None = None
         self._breakpoints: SyncBreakpointManager | None = None
         self._svd: SyncSVDManager | None = None
 
@@ -254,6 +279,7 @@ class SyncSession:
     def target(self) -> SyncTarget:
         if self._target is None:
             from openocd.target import SyncTarget
+
             self._target = SyncTarget(self._session.target, self._loop)
         return self._target
 
@@ -261,6 +287,7 @@ class SyncSession:
     def memory(self) -> SyncMemory:
         if self._memory is None:
             from openocd.memory import SyncMemory
+
             self._memory = SyncMemory(self._session.memory, self._loop)
         return self._memory
 
@@ -268,6 +295,7 @@ class SyncSession:
     def registers(self) -> SyncRegisters:
         if self._registers is None:
             from openocd.registers import SyncRegisters
+
             self._registers = SyncRegisters(self._session.registers, self._loop)
         return self._registers
 
@@ -275,6 +303,7 @@ class SyncSession:
     def flash(self) -> SyncFlash:
         if self._flash is None:
             from openocd.flash import SyncFlash
+
             self._flash = SyncFlash(self._session.flash, self._loop)
         return self._flash
 
@@ -282,13 +311,23 @@ class SyncSession:
     def jtag(self) -> SyncJTAGController:
         if self._jtag is None:
             from openocd.jtag import SyncJTAGController
+
             self._jtag = SyncJTAGController(self._session.jtag, self._loop)
         return self._jtag
 
+    @property
+    def swd(self) -> SyncSWDController:
+        if self._swd is None:
+            from openocd.swd import SyncSWDController
+
+            self._swd = SyncSWDController(self._session.swd, self._loop)
+        return self._swd
+
     @property
     def breakpoints(self) -> SyncBreakpointManager:
         if self._breakpoints is None:
             from openocd.breakpoints import SyncBreakpointManager
+
             self._breakpoints = SyncBreakpointManager(self._session.breakpoints, self._loop)
         return self._breakpoints
 
@@ -296,6 +335,7 @@ class SyncSession:
     def svd(self) -> SyncSVDManager:
         if self._svd is None:
             from openocd.svd import SyncSVDManager
+
             self._svd = SyncSVDManager(self._session.svd, self._loop)
         return self._svd
 
@@ -304,6 +344,7 @@ class SyncSession:
 # Helpers
 # ======================================================================
 
+
 def _get_or_create_loop() -> asyncio.AbstractEventLoop:
     """Get or create an event loop for synchronous usage.
 

src/openocd/swd/__init__.py

@@ -0,0 +1,5 @@
+"""SWD/DAP operations: DP/AP register access and DAP discovery."""
+
+from openocd.swd.controller import SWDController, SyncSWDController
+
+__all__ = ["SWDController", "SyncSWDController"]

src/openocd/swd/controller.py

@@ -0,0 +1,148 @@
+"""SWDController — unified facade for SWD/DAP operations."""
+
+from __future__ import annotations
+
+import asyncio
+import logging
+
+from openocd.connection.base import Connection
+from openocd.errors import SWDError
+from openocd.swd import dap as _dap
+from openocd.types import APInfo, DAPInfo
+
+log = logging.getLogger(__name__)
+
+
+class SWDController:
+    """High-level async interface to SWD/DAP operations.
+
+    Most boards have a single DAP.  When *dap* is ``None``, the controller
+    auto-discovers via ``dap names`` and uses the first (or only) DAP.
+    Multi-DAP boards (e.g. STM32H7 dual-core) pass the DAP name explicitly.
+    """
+
+    def __init__(self, conn: Connection) -> None:
+        self._conn = conn
+        self._cached_dap: str | None = None
+
+    # -- DAP name resolution -----------------------------------------------
+
+    async def _resolve_dap(self, dap: str | None) -> str:
+        """Return the DAP name to use: explicit or auto-discovered.
+
+        When *dap* is ``None``, uses the auto-discovered DAP (first result
+        from ``dap names``). Once resolved, the name is cached for the
+        lifetime of this controller unless :meth:`invalidate_cache` is called.
+        """
+        if dap is not None:
+            return dap
+        if self._cached_dap is not None:
+            return self._cached_dap
+
+        names = await _dap.dap_names(self._conn)
+        if not names:
+            raise SWDError("No DAP instances found (is the transport set to SWD?)")
+        self._cached_dap = names[0]
+        log.debug("Auto-resolved DAP: %s", self._cached_dap)
+        return self._cached_dap
+
+    def invalidate_cache(self) -> None:
+        """Clear the cached DAP name.
+
+        Call after transport changes, probe reconnection, or target
+        reconfiguration that may change which DAPs are available.
+        """
+        self._cached_dap = None
+        log.debug("DAP cache invalidated")
+
+    # -- DAP discovery -----------------------------------------------------
+
+    async def info(self, dap: str | None = None) -> DAPInfo:
+        """Query DAP information."""
+        name = await self._resolve_dap(dap)
+        return await _dap.dap_info(self._conn, name)
+
+    async def list_aps(self, dap: str | None = None) -> list[APInfo]:
+        """Enumerate Access Ports on the DAP."""
+        name = await self._resolve_dap(dap)
+        return await _dap.enumerate_aps(self._conn, name)
+
+    # -- DP register access ------------------------------------------------
+
+    async def dpreg(self, address: int, value: int | None = None, *, dap: str | None = None) -> int:
+        """Read or write a DP register.
+
+        When *value* is ``None``, performs a read and returns the value.
+        When *value* is provided, performs a write and returns the written value.
+        """
+        name = await self._resolve_dap(dap)
+        if value is None:
+            return await _dap.dpreg_read(self._conn, name, address)
+        await _dap.dpreg_write(self._conn, name, address, value)
+        return value
+
+    # -- AP register access ------------------------------------------------
+
+    async def apreg(
+        self, ap: int, address: int, value: int | None = None, *, dap: str | None = None
+    ) -> int:
+        """Read or write an AP register.
+
+        When *value* is ``None``, performs a read and returns the value.
+        When *value* is provided, performs a write and returns the written value.
+        """
+        name = await self._resolve_dap(dap)
+        if value is None:
+            return await _dap.apreg_read(self._conn, name, ap, address)
+        await _dap.apreg_write(self._conn, name, ap, address, value)
+        return value
+
+    # -- Convenience: well-known DP registers ------------------------------
+
+    async def dpidr(self, dap: str | None = None) -> int:
+        """Read the DP IDR (address 0x0) — identifies the debug port."""
+        return await self.dpreg(0x0, dap=dap)
+
+    async def target_id(self, dap: str | None = None) -> int:
+        """Read the TARGETID register (DP address 0x24, DPv2+)."""
+        return await self.dpreg(0x24, dap=dap)
+
+
+# ======================================================================
+# SyncSWDController — blocking wrappers
+# ======================================================================
+
+
+class SyncSWDController:
+    """Synchronous wrapper around :class:`SWDController`.
+
+    Every async method is exposed with the same signature but runs
+    through ``loop.run_until_complete``.
+    """
+
+    def __init__(self, ctrl: SWDController, loop: asyncio.AbstractEventLoop) -> None:
+        self._ctrl = ctrl
+        self._loop = loop
+
+    def info(self, dap: str | None = None) -> DAPInfo:
+        return self._loop.run_until_complete(self._ctrl.info(dap))
+
+    def list_aps(self, dap: str | None = None) -> list[APInfo]:
+        return self._loop.run_until_complete(self._ctrl.list_aps(dap))
+
+    def dpreg(self, address: int, value: int | None = None, *, dap: str | None = None) -> int:
+        return self._loop.run_until_complete(self._ctrl.dpreg(address, value, dap=dap))
+
+    def apreg(
+        self, ap: int, address: int, value: int | None = None, *, dap: str | None = None
+    ) -> int:
+        return self._loop.run_until_complete(self._ctrl.apreg(ap, address, value, dap=dap))
+
+    def dpidr(self, dap: str | None = None) -> int:
+        return self._loop.run_until_complete(self._ctrl.dpidr(dap))
+
+    def target_id(self, dap: str | None = None) -> int:
+        return self._loop.run_until_complete(self._ctrl.target_id(dap))
+
+    def invalidate_cache(self) -> None:
+        self._ctrl.invalidate_cache()

src/openocd/swd/dap.py

@@ -0,0 +1,199 @@
+"""Low-level DAP functions for SWD/DAP register access.
+
+All functions take a connection and a DAP name, then issue the
+corresponding OpenOCD ``<dap>`` sub-commands.  Parsing is defensive
+because OpenOCD output varies between versions.
+"""
+
+from __future__ import annotations
+
+import logging
+import re
+
+from openocd.connection.base import Connection
+from openocd.errors import SWDError
+from openocd.types import APInfo, DAPInfo
+
+log = logging.getLogger(__name__)
+
+# Match a hex value anywhere in the response (OpenOCD returns "0x2ba01477\n")
+_HEX_RE = re.compile(r"0x([0-9a-fA-F]+)")
+
+# Count APs in dap info output — looks for "AP # <n>" lines
+_AP_NUM_RE = re.compile(r"AP\s*#?\s*(\d+)")
+
+# DPIDR line in dap info output
+_DPIDR_RE = re.compile(r"DPIDR\s*[:=]?\s*(0x[0-9a-fA-F]+)", re.IGNORECASE)
+
+# OpenOCD error patterns: match the structure of actual error responses,
+# not arbitrary English words. Avoids false positives on output like
+# "error detection enabled" or register descriptions containing "invalid".
+_ERROR_RE = re.compile(
+    r"^Error:|^invalid command|^invalid|command not found",
+    re.IGNORECASE | re.MULTILINE,
+)
+
+_U32_MAX = 0xFFFFFFFF
+_AP_MAX = 255
+
+
+def _validate_u32(value: int, name: str) -> None:
+    """Ensure value is a valid unsigned 32-bit integer."""
+    if not isinstance(value, int) or value < 0 or value > _U32_MAX:
+        raise SWDError(f"{name} must be 0..0xFFFFFFFF, got {value!r}")
+
+
+def _validate_ap_num(ap_num: int) -> None:
+    """Ensure AP number is in the valid range (0-255 per ARM ADI spec)."""
+    if not isinstance(ap_num, int) or ap_num < 0 or ap_num > _AP_MAX:
+        raise SWDError(f"AP number must be 0..255, got {ap_num!r}")
+
+
+def _parse_hex(resp: str, context: str) -> int:
+    """Extract the first hex value from an OpenOCD response string."""
+    m = _HEX_RE.search(resp)
+    if m is None:
+        raise SWDError(f"{context}: no hex value in response: {resp.strip()!r}")
+    return int(m.group(1), 16)
+
+
+def _check_error(resp: str, context: str) -> None:
+    """Raise SWDError if the response indicates a failure.
+
+    Matches OpenOCD's actual error response patterns (``Error:``,
+    ``invalid command``) rather than naive substring matching, to avoid
+    false positives on legitimate output containing words like "error".
+    """
+    if _ERROR_RE.search(resp):
+        raise SWDError(f"{context}: {resp.strip()}")
+
+
+async def dap_names(conn: Connection) -> list[str]:
+    """Return the list of DAP instance names known to OpenOCD."""
+    resp = await conn.send("dap names")
+    _check_error(resp, "dap names")
+    names = [n.strip() for n in resp.strip().splitlines() if n.strip()]
+    return names
+
+
+async def dap_info(conn: Connection, dap_name: str) -> DAPInfo:
+    """Query full DAP info and return a structured DAPInfo."""
+    resp = await conn.send(f"{dap_name} info")
+    _check_error(resp, f"{dap_name} info")
+
+    # Extract DPIDR
+    dpidr = 0
+    m = _DPIDR_RE.search(resp)
+    if m:
+        dpidr = int(m.group(1), 16)
+    else:
+        log.warning(
+            "Could not parse DPIDR from '%s info' output — "
+            "OpenOCD format may have changed. Raw: %.200s",
+            dap_name,
+            resp,
+        )
+
+    # Count APs mentioned
+    ap_indices = set(_AP_NUM_RE.findall(resp))
+    ap_count = len(ap_indices)
+
+    return DAPInfo(
+        name=dap_name,
+        dpidr=dpidr,
+        ap_count=ap_count,
+        raw_info=resp.strip(),
+    )
+
+
+async def dpreg_read(conn: Connection, dap_name: str, address: int) -> int:
+    """Read a DP register at *address* via ``<dap> dpreg <addr>``."""
+    _validate_u32(address, "DP register address")
+    cmd = f"{dap_name} dpreg {address:#x}"
+    resp = await conn.send(cmd)
+    _check_error(resp, cmd)
+    return _parse_hex(resp, cmd)
+
+
+async def dpreg_write(conn: Connection, dap_name: str, address: int, value: int) -> None:
+    """Write *value* to DP register at *address*."""
+    _validate_u32(address, "DP register address")
+    _validate_u32(value, "DP register value")
+    cmd = f"{dap_name} dpreg {address:#x} {value:#x}"
+    resp = await conn.send(cmd)
+    _check_error(resp, cmd)
+
+
+async def apreg_read(conn: Connection, dap_name: str, ap_num: int, address: int) -> int:
+    """Read an AP register: ``<dap> apreg <ap> <addr>``."""
+    _validate_ap_num(ap_num)
+    _validate_u32(address, "AP register address")
+    cmd = f"{dap_name} apreg {ap_num} {address:#x}"
+    resp = await conn.send(cmd)
+    _check_error(resp, cmd)
+    return _parse_hex(resp, cmd)
+
+
+async def apreg_write(
+    conn: Connection, dap_name: str, ap_num: int, address: int, value: int
+) -> None:
+    """Write *value* to AP register: ``<dap> apreg <ap> <addr> <val>``."""
+    _validate_ap_num(ap_num)
+    _validate_u32(address, "AP register address")
+    _validate_u32(value, "AP register value")
+    cmd = f"{dap_name} apreg {ap_num} {address:#x} {value:#x}"
+    resp = await conn.send(cmd)
+    _check_error(resp, cmd)
+
+
+def _classify_ap(idr: int) -> str:
+    """Classify an AP by its IDR value.
+
+    The AP IDR Class field (bits 16:13) indicates the AP type per ARM ADI:
+      0x0 = no AP / reserved
+      0x1 = COM-AP (deprecated MEM-AP variant, ADIv5)
+      0x8 = MEM-AP (ADIv5)
+      0x9 = MEM-AP (ADIv6)
+    The Type field (bits 3:0) further distinguishes variants.
+    """
+    if idr == 0:
+        return "unknown"
+    class_field = (idr >> 13) & 0xF
+    if class_field in (0x1, 0x8, 0x9):
+        return "MEM-AP"
+    type_field = idr & 0xF
+    if type_field == 0x0:
+        return "JTAG-AP"
+    return "unknown"
+
+
+async def enumerate_aps(conn: Connection, dap_name: str, max_aps: int = 256) -> list[APInfo]:
+    """Probe APs by reading IDR (offset 0xFC) until we get 0 or hit *max_aps*.
+
+    Each AP with a non-zero IDR is included. We also read the BASE register
+    (offset 0xF8) to capture the ROM table address.
+    """
+    aps: list[APInfo] = []
+    for idx in range(max_aps):
+        try:
+            idr = await apreg_read(conn, dap_name, idx, 0xFC)
+        except SWDError as exc:
+            log.warning("AP enumeration stopped at index %d due to error: %s", idx, exc)
+            break
+        if idr == 0:
+            break
+
+        try:
+            base = await apreg_read(conn, dap_name, idx, 0xF8)
+        except SWDError:
+            base = 0
+
+        aps.append(
+            APInfo(
+                index=idx,
+                idr=idr,
+                base=base,
+                ap_type=_classify_ap(idr),
+            )
+        )
+    return aps

src/openocd/types.py

@@ -10,6 +10,7 @@ from typing import Literal
 # Target
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class TargetState:
     """Snapshot of target execution state."""
@@ -23,6 +24,7 @@ class TargetState:
 # Registers
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class Register:
     """A single CPU register."""
@@ -38,6 +40,7 @@ class Register:
 # Flash
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class FlashSector:
     """One sector inside a flash bank."""
@@ -66,6 +69,7 @@ class FlashBank:
 # JTAG
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class TAPInfo:
     """One TAP discovered on the JTAG chain."""
@@ -103,6 +107,7 @@ class JTAGState(str, Enum):
 # Memory
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class MemoryRegion:
     """A chunk of memory read from the target."""
@@ -116,6 +121,7 @@ class MemoryRegion:
 # SVD
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class BitField:
     """One decoded bitfield inside a register."""
@@ -150,6 +156,7 @@ class DecodedRegister:
 # Breakpoints
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class Breakpoint:
     """An active breakpoint."""
@@ -175,6 +182,7 @@ class Watchpoint:
 # RTT
 # ---------------------------------------------------------------------------
 
+
 @dataclass(frozen=True)
 class RTTChannel:
     """An RTT channel descriptor."""
@@ -183,3 +191,28 @@ class RTTChannel:
     name: str
     size: int
     direction: Literal["up", "down"]
+
+
+# ---------------------------------------------------------------------------
+# SWD / DAP
+# ---------------------------------------------------------------------------
+
+
+@dataclass(frozen=True)
+class DAPInfo:
+    """Debug Access Port information returned by ``dap info``."""
+
+    name: str  # DAP instance name (e.g. "stm32f1x.dap")
+    dpidr: int  # DP ID Register value
+    ap_count: int  # Number of access ports discovered
+    raw_info: str  # Full ``dap info`` output for detailed parsing
+
+
+@dataclass(frozen=True)
+class APInfo:
+    """Access Port descriptor discovered during AP enumeration."""
+
+    index: int  # AP number (0, 1, 2...)
+    idr: int  # AP ID Register (from apreg <n> 0xfc)
+    base: int  # ROM table base address (from apreg <n> 0xf8)
+    ap_type: str  # "MEM-AP", "JTAG-AP", "CTRL-AP", or "unknown"

tests/mock_server.py

@@ -7,6 +7,7 @@ An asyncio TCP server that speaks the OpenOCD TCL RPC framing protocol:
 Supports exact-match and regex-based command routing with pre-loaded
 responses that mirror real OpenOCD output.
 """
+
 from __future__ import annotations
 
 import asyncio
@@ -58,8 +59,7 @@ REG_ALL_RESPONSE = """\
 READ_MEMORY_RESPONSE = "20005000 080001a1 080001ab 080001ad"
 
 FLASH_BANKS_RESPONSE = (
-    "#0 : stm32f1x.flash (stm32f1x) at 0x08000000,"
-    " size 0x00020000, buswidth 0, chipwidth 0"
+    "#0 : stm32f1x.flash (stm32f1x) at 0x08000000, size 0x00020000, buswidth 0, chipwidth 0"
 )
 
 SCAN_CHAIN_RESPONSE = """\
@@ -82,6 +82,26 @@ TRANSPORT_SELECT_RESPONSE = "swd"
 TRANSPORT_LIST_RESPONSE = "jtag swd"
 ADAPTER_SPEED_RESPONSE = "4000"
 
+# -- SWD/DAP ---------------------------------------------------------------
+DAP_NAMES_RESPONSE = "stm32f1x.dap"
+
+DAP_INFO_RESPONSE = """\
+AP # 0
+        AP ID register 0x04770031
+                Type is MEM-AP AHB3
+        MEM-AP BASE 0xe00ff003
+                Valid ROM table present
+                Component base address 0xe00ff000
+                Peripheral ID 0x04c0010471
+                Designer is 0x4bb, ST Microelectronics
+DPIDR: 0x2ba01477"""
+
+DPREG_0_RESPONSE = "0x2ba01477"
+DPREG_24_RESPONSE = "0x00000477"
+APREG_0_FC_RESPONSE = "0x04770031"
+APREG_0_F8_RESPONSE = "0xe00ff003"
+APREG_1_FC_RESPONSE = "0x00000000"
+
 
 def _build_default_responses() -> list[tuple[re.Pattern[str], str | Callable[[str], str]]]:
     """Build the default command-to-response routing table.
@@ -97,7 +117,6 @@ def _build_default_responses() -> list[tuple[re.Pattern[str], str | Callable[[st
         (re.compile(r"^step"), ""),
         (re.compile(r"^reset\s+"), ""),
         (re.compile(r"^wait_halt"), ""),
-
         # individual register reads (must come before bare "reg")
         (re.compile(r"^reg\s+pc$"), REG_PC_RESPONSE),
         (re.compile(r"^reg\s+sp$"), REG_SP_RESPONSE),
@@ -107,24 +126,30 @@ def _build_default_responses() -> list[tuple[re.Pattern[str], str | Callable[[st
         (re.compile(r"^reg\s+\S+\s+0x"), ""),
         # bare "reg" -> full listing
         (re.compile(r"^reg$"), REG_ALL_RESPONSE),
-
         # memory
         (re.compile(r"^read_memory\s+0x8000000\s+32\s+4$"), READ_MEMORY_RESPONSE),
         # generic read_memory -- return zeros for widths/counts we haven't mapped
         (re.compile(r"^read_memory\s+"), _generic_read_memory),
         (re.compile(r"^write_memory\s+"), ""),
-
         # flash
         (re.compile(r"^flash banks$"), FLASH_BANKS_RESPONSE),
         (re.compile(r"^flash\s+"), ""),
-
+        # SWD/DAP
+        (re.compile(r"^dap names$"), DAP_NAMES_RESPONSE),
+        (re.compile(r"^stm32f1x\.dap info$"), DAP_INFO_RESPONSE),
+        (re.compile(r"^stm32f1x\.dap dpreg 0x0$"), DPREG_0_RESPONSE),
+        (re.compile(r"^stm32f1x\.dap dpreg 0x24$"), DPREG_24_RESPONSE),
+        (re.compile(r"^stm32f1x\.dap dpreg 0x0 0x"), ""),
+        (re.compile(r"^stm32f1x\.dap apreg 0 0xfc$"), APREG_0_FC_RESPONSE),
+        (re.compile(r"^stm32f1x\.dap apreg 0 0xf8$"), APREG_0_F8_RESPONSE),
+        (re.compile(r"^stm32f1x\.dap apreg 1 0xfc$"), APREG_1_FC_RESPONSE),
+        (re.compile(r"^stm32f1x\.dap apreg 0 0x0 0x"), ""),
         # JTAG
         (re.compile(r"^scan_chain$"), SCAN_CHAIN_RESPONSE),
         (re.compile(r"^irscan\s+"), "0x01"),
         (re.compile(r"^drscan\s+"), "0xDEADBEEF"),
         (re.compile(r"^runtest\s+"), ""),
         (re.compile(r"^pathmove\s+"), ""),
-
         # breakpoints
         (re.compile(r"^bp\s+0x"), ""),
         (re.compile(r"^bp$"), BP_LIST_RESPONSE),
@@ -132,14 +157,12 @@ def _build_default_responses() -> list[tuple[re.Pattern[str], str | Callable[[st
         (re.compile(r"^wp\s+0x"), ""),
         (re.compile(r"^wp$"), ""),
         (re.compile(r"^rwp\s+"), ""),
-
         # transport / adapter
         (re.compile(r"^transport\s+select$"), TRANSPORT_SELECT_RESPONSE),
         (re.compile(r"^transport\s+list$"), TRANSPORT_LIST_RESPONSE),
         (re.compile(r"^adapter\s+speed$"), ADAPTER_SPEED_RESPONSE),
         (re.compile(r"^adapter\s+speed\s+\d+"), ADAPTER_SPEED_RESPONSE),
         (re.compile(r"^adapter\s+name$"), "cmsis-dap"),
-
         # RTT
         (re.compile(r"^rtt\s+channels$"), RTT_CHANNELS_RESPONSE),
         (re.compile(r"^rtt\s+setup\s+"), ""),
@@ -147,7 +170,6 @@ def _build_default_responses() -> list[tuple[re.Pattern[str], str | Callable[[st
         (re.compile(r"^rtt\s+stop$"), ""),
         (re.compile(r"^rtt\s+channelread\s+"), "hello from target"),
         (re.compile(r"^rtt\s+channelwrite\s+"), ""),
-
         # notifications
         (re.compile(r"^tcl_notifications\s+"), ""),
     ]
@@ -201,9 +223,7 @@ class MockOpenOCDServer:
         self._routes.insert(0, (re.compile(pattern), response))
 
     async def start(self) -> None:
-        self._server = await asyncio.start_server(
-            self._handle_client, self._host, self._port
-        )
+        self._server = await asyncio.start_server(self._handle_client, self._host, self._port)
         await self._server.start_serving()
 
     async def stop(self) -> None:

tests/test_session.py

@@ -1,4 +1,5 @@
 """Tests for the Session class."""
+
 from __future__ import annotations
 
 import pytest
@@ -11,6 +12,7 @@ from openocd.registers import Registers
 from openocd.rtt import RTTManager
 from openocd.session import Session
 from openocd.svd import SVDManager
+from openocd.swd import SWDController
 from openocd.target import Target
 from openocd.transport import Transport
 
@@ -38,6 +40,7 @@ async def test_context_manager(mock_ocd):
     # After exiting the context, the connection is closed.
     # Attempting to send should raise.
     from openocd.errors import ConnectionError
+
     with pytest.raises(ConnectionError):
         await sess.command("targets")
 
@@ -67,6 +70,11 @@ async def test_subsystem_jtag_type(session):
     assert isinstance(session.jtag, JTAGController)
 
 
+async def test_subsystem_swd_type(session):
+    """session.swd should return an SWDController instance."""
+    assert isinstance(session.swd, SWDController)
+
+
 async def test_subsystem_breakpoints_type(session):
     """session.breakpoints should return a BreakpointManager instance."""
     assert isinstance(session.breakpoints, BreakpointManager)

tests/test_swd.py

@@ -0,0 +1,286 @@
+"""Tests for the SWD/DAP subsystem."""
+
+from __future__ import annotations
+
+import pytest
+
+from openocd.errors import SWDError
+from openocd.types import APInfo, DAPInfo
+
+
+async def test_dap_info(session):
+    """info() should return a DAPInfo with parsed DPIDR and AP count."""
+    info = await session.swd.info()
+    assert isinstance(info, DAPInfo)
+    assert info.name == "stm32f1x.dap"
+    assert info.dpidr == 0x2BA01477
+    assert info.ap_count == 1
+    assert "MEM-AP" in info.raw_info
+
+
+async def test_dap_info_frozen(session):
+    """DAPInfo should be immutable (frozen dataclass)."""
+    info = await session.swd.info()
+    with pytest.raises(AttributeError):
+        info.name = "something_else"  # type: ignore[misc]
+
+
+async def test_dpreg_read(session):
+    """dpreg() without a value should read and return a DP register."""
+    result = await session.swd.dpreg(0x0)
+    assert isinstance(result, int)
+    assert result == 0x2BA01477
+
+
+async def test_dpreg_write(session, mock_ocd):
+    """dpreg() with a value should write and return the written value."""
+    result = await session.swd.dpreg(0x0, value=0x12345678)
+    assert result == 0x12345678
+    # Verify the mock received the write command
+    _, _, server = mock_ocd
+    write_cmds = [c for c in server.received_commands if "dpreg 0x0 0x" in c]
+    assert len(write_cmds) >= 1
+
+
+async def test_apreg_read(session):
+    """apreg() without a value should read an AP register."""
+    result = await session.swd.apreg(0, 0xFC)
+    assert isinstance(result, int)
+    assert result == 0x04770031
+
+
+async def test_apreg_write(session, mock_ocd):
+    """apreg() with a value should write and return the written value."""
+    result = await session.swd.apreg(0, 0x0, value=0xAABBCCDD)
+    assert result == 0xAABBCCDD
+    _, _, server = mock_ocd
+    write_cmds = [c for c in server.received_commands if "apreg 0 0x0 0x" in c]
+    assert len(write_cmds) >= 1
+
+
+async def test_enumerate_aps(session):
+    """list_aps() should discover APs by probing IDR until zero."""
+    aps = await session.swd.list_aps()
+    assert isinstance(aps, list)
+    assert len(aps) == 1
+
+    ap = aps[0]
+    assert isinstance(ap, APInfo)
+    assert ap.index == 0
+    assert ap.idr == 0x04770031
+    assert ap.base == 0xE00FF003
+    assert ap.ap_type == "MEM-AP"
+
+
+async def test_ap_info_frozen(session):
+    """APInfo should be immutable (frozen dataclass)."""
+    aps = await session.swd.list_aps()
+    with pytest.raises(AttributeError):
+        aps[0].index = 99  # type: ignore[misc]
+
+
+async def test_dpidr_convenience(session):
+    """dpidr() should read DP address 0x0."""
+    result = await session.swd.dpidr()
+    assert result == 0x2BA01477
+
+
+async def test_target_id(session):
+    """target_id() should read DP address 0x24."""
+    result = await session.swd.target_id()
+    assert result == 0x00000477
+
+
+async def test_auto_resolve_dap(session, mock_ocd):
+    """With no explicit dap name, the controller should auto-discover."""
+    # First call triggers dap names lookup
+    await session.swd.dpidr()
+    _, _, server = mock_ocd
+    assert "dap names" in server.received_commands
+
+    # Second call should use the cached name (no extra dap names)
+    count_before = server.received_commands.count("dap names")
+    await session.swd.dpidr()
+    count_after = server.received_commands.count("dap names")
+    assert count_after == count_before
+
+
+async def test_explicit_dap_name(session, mock_ocd):
+    """Passing dap= explicitly should skip auto-discovery."""
+    result = await session.swd.dpreg(0x0, dap="stm32f1x.dap")
+    assert result == 0x2BA01477
+    # Should NOT have called "dap names"
+    _, _, server = mock_ocd
+    assert "dap names" not in server.received_commands
+
+
+async def test_swd_error_on_bad_response(mock_ocd):
+    """SWDError should be raised when response matches OpenOCD error patterns."""
+    from openocd.swd.dap import _check_error
+
+    with pytest.raises(SWDError):
+        _check_error("Error: invalid DAP", "test")
+
+    with pytest.raises(SWDError):
+        _check_error("invalid command name", "test")
+
+    with pytest.raises(SWDError):
+        _check_error("command not found", "test")
+
+    # Clean responses should not raise
+    _check_error("0x2ba01477", "test")
+    _check_error("", "test")
+
+    # Legitimate output containing "error" as a substring should NOT raise.
+    # This is the false-positive prevention fix (C1 from code review).
+    _check_error("error detection enabled in CTRL register", "test")
+    _check_error("AP ID register 0x04770031", "test")
+
+
+async def test_swd_error_no_hex_value(mock_ocd):
+    """SWDError should be raised when no hex value found in read response."""
+    from openocd.swd.dap import _parse_hex
+
+    with pytest.raises(SWDError, match="no hex value"):
+        _parse_hex("no numbers here", "test read")
+
+
+def test_sync_wrapper():
+    """SyncSWDController should expose the same API synchronously.
+
+    The sync API blocks with run_until_complete, so the mock server must
+    run on a separate thread to accept connections concurrently.
+    """
+    import asyncio
+    import threading
+
+    from openocd.session import Session
+    from tests.mock_server import MockOpenOCDServer
+
+    # Run mock server in a background thread with its own event loop.
+    bg_loop = asyncio.new_event_loop()
+    server = MockOpenOCDServer()
+    bg_loop.run_until_complete(server.start())
+    host, port = server.address
+
+    thread = threading.Thread(target=bg_loop.run_forever, daemon=True)
+    thread.start()
+
+    try:
+        with Session.connect_sync(host, port, timeout=5.0) as sync_sess:
+            result = sync_sess.swd.dpidr()
+            assert result == 0x2BA01477
+
+            info = sync_sess.swd.info()
+            assert isinstance(info, DAPInfo)
+            assert info.name == "stm32f1x.dap"
+
+            aps = sync_sess.swd.list_aps()
+            assert len(aps) == 1
+    finally:
+        bg_loop.call_soon_threadsafe(bg_loop.stop)
+        thread.join(timeout=5)
+        bg_loop.run_until_complete(server.stop())
+        bg_loop.close()
+
+
+def test_classify_ap():
+    """AP classification should identify MEM-AP, JTAG-AP, and unknown types."""
+    from openocd.swd.dap import _classify_ap
+
+    # MEM-AP ADIv5 (class field 0x8)
+    assert _classify_ap(0x04770031) == "MEM-AP"
+    # Zero IDR = unknown
+    assert _classify_ap(0x00000000) == "unknown"
+    # Class field 0x1 (COM-AP / legacy MEM-AP)
+    assert _classify_ap(0x00002000) == "MEM-AP"
+    # MEM-AP ADIv6 (class field 0x9)
+    assert _classify_ap(0x00012000) == "MEM-AP"
+    # JTAG-AP: non-zero IDR, class not MEM-AP, type field 0x0
+    assert _classify_ap(0x00000010) == "JTAG-AP"  # bits[3:0]=0x0, class=0
+    # Unknown: non-zero IDR, class not MEM-AP, type field != 0
+    assert _classify_ap(0x00000001) == "unknown"  # bits[3:0]=0x1, class=0
+
+
+# ======================================================================
+# Error-path tests (from code review findings I6)
+# ======================================================================
+
+
+async def test_no_dap_found(mock_ocd):
+    """SWDError should be raised when dap names returns empty."""
+    from openocd.session import Session
+
+    host, port, server = mock_ocd
+    # Override dap names to return empty
+    server.add_response(r"^dap names$", "")
+
+    sess = await Session.connect(host, port, timeout=5.0)
+    try:
+        with pytest.raises(SWDError, match="No DAP instances found"):
+            await sess.swd.dpidr()
+    finally:
+        await sess.close()
+
+
+async def test_invalidate_cache(session, mock_ocd):
+    """invalidate_cache() should force re-discovery on next call."""
+    _, _, server = mock_ocd
+
+    # First call populates the cache
+    await session.swd.dpidr()
+    count_after_first = server.received_commands.count("dap names")
+    assert count_after_first == 1
+
+    # Invalidate and call again
+    session.swd.invalidate_cache()
+    await session.swd.dpidr()
+    count_after_invalidate = server.received_commands.count("dap names")
+    assert count_after_invalidate == 2
+
+
+async def test_dpreg_negative_address_rejected(session):
+    """Negative addresses should be rejected before reaching OpenOCD."""
+    with pytest.raises(SWDError, match="must be 0"):
+        await session.swd.dpreg(-1)
+
+
+async def test_dpreg_overflow_address_rejected(session):
+    """Addresses > 0xFFFFFFFF should be rejected."""
+    with pytest.raises(SWDError, match="must be 0"):
+        await session.swd.dpreg(0x1_0000_0000)
+
+
+async def test_apreg_negative_ap_rejected(session):
+    """Negative AP numbers should be rejected."""
+    with pytest.raises(SWDError, match="AP number must be"):
+        await session.swd.apreg(-1, 0xFC)
+
+
+async def test_apreg_ap_over_255_rejected(session):
+    """AP numbers > 255 should be rejected per ARM ADI spec."""
+    with pytest.raises(SWDError, match="AP number must be"):
+        await session.swd.apreg(256, 0xFC)
+
+
+async def test_dpreg_write_negative_value_rejected(session):
+    """Negative values should be rejected for DP register writes."""
+    with pytest.raises(SWDError, match="must be 0"):
+        await session.swd.dpreg(0x0, value=-1)
+
+
+async def test_dap_info_unparseable_dpidr(mock_ocd):
+    """When dap info output has no DPIDR line, dpidr should be 0 with warning."""
+    from openocd.session import Session
+
+    host, port, server = mock_ocd
+    # Override dap info to return output with no DPIDR line
+    server.add_response(r"^stm32f1x\.dap info$", "AP # 0\n  Some AP info\n  No DPIDR here")
+
+    sess = await Session.connect(host, port, timeout=5.0)
+    try:
+        info = await sess.swd.info()
+        assert info.dpidr == 0  # Falls back to 0 with a logged warning
+        assert info.ap_count == 1  # AP # 0 is still counted
+    finally:
+        await sess.close()