target/arm_adi_v5: introduce adiv5_jim_configure_ext()

target/arm_adi_v5: introduce adiv5_jim_configure_ext()

Allow direct pointer to struct adiv5_private_config
for targets with adiv5_private_config inside of a bigger
private config container. Use it instead of the private_config
pointer toggling hack in aarch64.c

Allow optional use of -dap parameter and use it instead
of the static variable hack in xtensa_chip.c

Signed-off-by: Tomas Vanek <vanekt@fbl.cz>
Change-Id: I7260c79332940adfa49d57b45cae39325cdaf432
Reviewed-on: https://review.openocd.org/c/openocd/+/8138
Tested-by: jenkins
Reviewed-by: Ian Thompson <ianst@cadence.com>
Reviewed-by: Antonio Borneo <borneo.antonio@gmail.com>