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SAM4 micro-controllers (Duet Wifi)
</a>
</li>
<li class="md-nav__item">
<a href="#samdc21-micro-controllers-duet3d-toolboard-1lc" class="md-nav__link">
SAMDC21 micro-controllers (Duet3D Toolboard 1LC)
</a>
</li>
<li class="md-nav__item">
@ -1520,6 +1527,13 @@
SAM4 micro-controllers (Duet Wifi)
</a>
</li>
<li class="md-nav__item">
<a href="#samdc21-micro-controllers-duet3d-toolboard-1lc" class="md-nav__link">
SAMDC21 micro-controllers (Duet3D Toolboard 1LC)
</a>
</li>
<li class="md-nav__item">
@ -1796,6 +1810,46 @@ can be used to program the SAM4. It is necessary to use version
<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="samd21-micro-controllers-arduino-zero">SAMD21 micro-controllers (Arduino Zero)<a class="headerlink" href="#samd21-micro-controllers-arduino-zero" title="Permanent link">&para;</a></h2>
<p>The SAMD21 bootloader is flashed via the ARM Serial Wire Debug (SWD)
interface. This is commonly done with a dedicated SWD hardware dongle.