feat(debugger): set dapdirect_swd as default transport

[fpistm]

hla_swd deprecated since STLink V2 (2015).
https://openocd.org/doc/html/Debug-Adapter-Configuration.html#SWD-Transport

Unless your adapter uses either the hla interface driver (in which case the command is transport select hla_swd) or the st-link interface driver (in which case the command is transport select dapdirect_swd).

https://openocd.org/doc/html/Debug-Adapter-Configuration.html#st_005flink_005fdap_005finterface

This is a driver that supports STMicroelectronics adapters ST-LINK/V2 (from 2015 firmware V2J24), STLINK-V3 and STLINK-V3PWR, thanks to a new API that provides directly access the arm ADIv5 DAP.

The older API that requires HLA transport is deprecated and will be dropped from OpenOCD. In mean time it’s still available by using interface/stlink-hla.cfg.