PyOCD Open source Python library for programming and debugging Arm Cortex-M microcontrollers using CMSIS-DAP.
stlink Programmer for STM32. Supporting STLINKv1, v2 and v2-1. Written in C.
ARM Debug Interface Architecture Specification ADIv5.0 to ADIv5.2 Have a look at Figure A1-2!
ARM CoreSight Architecture Specification v3.0
CoreSight Technical Introduction CMSIS Packs
Cortex-M0 Technical Reference Manual
Cortex-M1 Technical Reference Manual
Cortex-M3 Technical Reference Manual
Cortex-M4 Technical Reference Manual
Cortex-M7 Technical Reference Manual
Cortex-M23 Technical Reference Manual