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@ -622,8 +622,8 @@
<li class="md-nav__item">
<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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SAM4 微控制器 (Duet Wifi)
</a>
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<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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SAM4 微控制器 (Duet Wifi)
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<a href="#samdc21-micro-controllers-duet3d-toolboard-1lc" class="md-nav__link">
SAMDC21 micro-controllers (Duet3D Toolboard 1LC)
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<li class="md-nav__item">
@ -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="samd21arduino-zero">SAMD21微控制器（Arduino Zero）<a class="headerlink" href="#samd21arduino-zero" title="Permanent link">&para;</a></h2>
<p>SAMD21 引导加载程序通过 ARM 串行线调试 （SWD） 接口进行刷写，通常需要一个专用的 SWD 硬件转换器或者使用<a href="#running-openocd-on-the-raspberry-pi">安装了 OpenOCD 的 Raspberry Pi</a>来完成。</p>
<p>要使用 OpenOCD 刷写引导加载程序，请使用以下芯片配置：</p>
@ -2022,13 +2069,13 @@ gdb out/klipper.elf
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