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it/Bootloaders.html
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<a href="Axis_Twist_Compensation.md" class="md-nav__link">
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<a href="Axis_Twist_Compensation.html" class="md-nav__link">
Axis Twist Compensation
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Microcontrollori SAM4 (Duet Wifi)
</a>
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<li class="md-nav__item">
<a href="#samdc21-micro-controllers-duet3d-toolboard-1lc" class="md-nav__link">
SAMDC21 micro-controllers (Duet3D Toolboard 1LC)
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Bootloader Entry
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Microcontrollori SAM4 (Duet Wifi)
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<li class="md-nav__item">
<a href="#samdc21-micro-controllers-duet3d-toolboard-1lc" class="md-nav__link">
SAMDC21 micro-controllers (Duet3D Toolboard 1LC)
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@ -1754,6 +1768,39 @@ bossac -U -p /dev/ttyACM0 -R
<div class="highlight"><pre><span></span><code>bossac --port=/dev/ttyACM0 -b -U -e -w -v -R out/klipper.bin
</code></pre></div>
<h2 id="samdc21-micro-controllers-duet3d-toolboard-1lc">SAMDC21 micro-controllers (Duet3D Toolboard 1LC)<a class="headerlink" href="#samdc21-micro-controllers-duet3d-toolboard-1lc" title="Permanent link">&para;</a></h2>
<p>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 <a href="#running-openocd-on-the-raspberry-pi">Raspberry Pi with OpenOCD</a>.</p>
<p>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.</p>
<div class="highlight"><pre><span></span><code>SWCLK=25
SWDIO=24
SRST=18
echo &quot;Exporting SWCLK and SRST pins.&quot;
echo $SWCLK &gt; /sys/class/gpio/export
echo $SRST &gt; /sys/class/gpio/export
echo &quot;out&quot; &gt; /sys/class/gpio/gpio$SWCLK/direction
echo &quot;out&quot; &gt; /sys/class/gpio/gpio$SRST/direction
echo &quot;Setting SWCLK low and pulsing SRST.&quot;
echo &quot;0&quot; &gt; /sys/class/gpio/gpio$SWCLK/value
echo &quot;0&quot; &gt; /sys/class/gpio/gpio$SRST/value
echo &quot;1&quot; &gt; /sys/class/gpio/gpio$SRST/value
echo &quot;Unexporting SWCLK and SRST pins.&quot;
echo $SWCLK &gt; /sys/class/gpio/unexport
echo $SRST &gt; /sys/class/gpio/unexport
</code></pre></div>
<p>To flash a program with OpenOCD use the following chip config:</p>
<div class="highlight"><pre><span></span><code>source [find target/at91samdXX.cfg]
</code></pre></div>
<p>Obtain a program; for instance, klipper can be built for this chip. Flash with OpenOCD commands similar to:</p>
<div class="highlight"><pre><span></span><code>at91samd chip-erase
at91samd bootloader 0
program out/klipper.elf verify
</code></pre></div>
<h2 id="microcontrollori-samd21-arduino-zero">Microcontrollori SAMD21 (Arduino Zero)<a class="headerlink" href="#microcontrollori-samd21-arduino-zero" title="Permanent link">&para;</a></h2>
<p>Il bootloader SAMD21 viene caricato in memoria flashing tramite l'interfaccia ARM Serial Wire Debug (SWD). Questo viene fatto comunemente con un dongle hardware SWD dedicato. In alternativa, è possibile utilizzare un <a href="#running-openocd-on-the-raspberry-pi">Raspberry Pi con OpenOCD</a>.</p>
<p>Per eseguire il flashing di un bootloader con OpenOCD, utilizzare la seguente configurazione del chip:</p>
@ -2022,13 +2069,13 @@ gdb out/klipper.elf
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