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diff --git a/docs/Bootloaders.md b/docs/Bootloaders.md index 1f7aa24d..56a81095 100644 --- a/docs/Bootloaders.md +++ b/docs/Bootloaders.md @@ -185,6 +185,50 @@ To flash an application use something like: bossac --port=/dev/ttyACM0 -b -U -e -w -v -R out/klipper.bin ``` +## SAMDC21 micro-controllers (Duet3D Toolboard 1LC) + +The SAMC21 is flashed via the ARM Serial Wire Debug (SWD) interface. +This is commonly done with a dedicated SWD hardware dongle. +Alternatively, one can use a +[Raspberry Pi with OpenOCD](#running-openocd-on-the-raspberry-pi). + +When using OpenOCD with the SAMC21, extra steps must be taken to first +put the chip into Cold Plugging mode if the board makes use of the +SWD pins for other purposes. If using OpenOCD on a Rasberry Pi, this +can be done by running the following commands before invoking OpenOCD. +``` +SWCLK=25 +SWDIO=24 +SRST=18 + +echo "Exporting SWCLK and SRST pins." +echo $SWCLK > /sys/class/gpio/export +echo $SRST > /sys/class/gpio/export +echo "out" > /sys/class/gpio/gpio$SWCLK/direction +echo "out" > /sys/class/gpio/gpio$SRST/direction + +echo "Setting SWCLK low and pulsing SRST." +echo "0" > /sys/class/gpio/gpio$SWCLK/value +echo "0" > /sys/class/gpio/gpio$SRST/value +echo "1" > /sys/class/gpio/gpio$SRST/value + +echo "Unexporting SWCLK and SRST pins." +echo $SWCLK > /sys/class/gpio/unexport +echo $SRST > /sys/class/gpio/unexport +``` + +To flash a program with OpenOCD use the following chip config: +``` +source [find target/at91samdXX.cfg] +``` +Obtain a program; for instance, klipper can be built for this chip. +Flash with OpenOCD commands similar to: +``` +at91samd chip-erase +at91samd bootloader 0 +program out/klipper.elf verify +``` + ## SAMD21 micro-controllers (Arduino Zero) The SAMD21 bootloader is flashed via the ARM Serial Wire Debug (SWD) |