docs: Add information on using OpenOCD to Bootloaders.md
Add information on using OpenOCD. Add information on flashing the SAMD21 and SAMD51 with OpenOCD. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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@ -190,31 +190,71 @@ SAMD21 micro-controllers (Arduino Zero)
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The SAMD21 bootloader is flashed via the ARM Serial Wire Debug (SWD)
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interface. This is commonly done with a dedicated SWD hardware dongle.
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Alternatively, it appears one can use a Raspberry Pi with OpenOCD as a
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programmer (see:
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[https://learn.adafruit.com/programming-microcontrollers-using-openocd-on-raspberry-pi](https://learn.adafruit.com/programming-microcontrollers-using-openocd-on-raspberry-pi)
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).
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Alternatively, one can use a
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[Raspberry Pi with OpenOCD](#running-openocd-on-the-raspberry-pi).
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Unfortunately, there are two common bootloaders deployed on the
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SAMD21. One comes standard with the "Arduino Zero" and the other comes
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standard with the "Arduino M0".
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To flash a bootloader with OpenOCD use a chip config similar to:
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```
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set CHIPNAME at91samd21g18
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source [find target/at91samdXX.cfg]
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```
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Obtain a bootloader - for example:
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```
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wget 'https://github.com/arduino/ArduinoCore-samd/raw/1.8.3/bootloaders/zero/samd21_sam_ba.bin'
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```
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Flash with OpenOCD commands similar to:
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```
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at91samd bootloader 0
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program samd21_sam_ba.bin verify
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```
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The Arduino Zero uses an 8KiB bootloader (the application must be
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compiled with a start address of 8KiB). One can enter the bootloader
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The most common bootloader on the SAMD21 is the one found on the
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"Arduino Zero". It uses an 8KiB bootloader (the application must be
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compiled with a start address of 8KiB). One can enter this bootloader
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by double clicking the reset button. To flash an application use
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something like:
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```
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bossac -U -p "$(FLASH_DEVICE)" --offset=0x2000 -w out/klipper.bin -v -b -R
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bossac -U -p /dev/ttyACM0 --offset=0x2000 -w out/klipper.bin -v -b -R
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```
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The Arduino M0 uses a 16KiB bootloader (the application must be
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compiled with a start address of 16KiB). To flash an application,
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reset the micro-controller and run the flash command within the first
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few seconds of boot - something like:
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In contrast, the "Arduino M0" uses a 16KiB bootloader (the application
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must be compiled with a start address of 16KiB). To flash an
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application on this bootloader, reset the micro-controller and run the
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flash command within the first few seconds of boot - something like:
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```
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avrdude -c stk500v2 -p atmega2560 -P /dev/ttyACM0 -u -Uflash:w:out/klipper.elf.hex:i
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```
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SAMD51 micro-controllers (Adafruit Metro-M4 and similar)
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========================================================
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Like the SAMD21, the SAMD51 bootloader is flashed via the ARM Serial
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Wire Debug (SWD) interface. To flash a bootloader with
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[OpenOCD on a Raspberry Pi](#running-openocd-on-the-raspberry-pi) use
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a chip config similar to:
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```
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set CHIPNAME at91samd51g19
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source [find target/atsame5x.cfg]
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```
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Obtain a bootloader - several bootloaders are available from
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[https://github.com/adafruit/uf2-samdx1/releases/latest](https://github.com/adafruit/uf2-samdx1/releases/latest). For example:
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```
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wget 'https://github.com/adafruit/uf2-samdx1/releases/download/v3.7.0/bootloader-itsybitsy_m4-v3.7.0.bin'
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```
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Flash with OpenOCD commands similar to:
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```
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at91samd bootloader 0
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program bootloader-itsybitsy_m4-v3.7.0.bin verify
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at91samd bootloader 16384
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```
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The SAMD51 uses a 16KiB bootloader (the application must be compiled
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with a start address of 16KiB). To flash an application use something
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like:
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```
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bossac -U -p /dev/ttyACM0 --offset=0x4000 -w out/klipper.bin -v -b -R
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```
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STM32F103 micro-controllers (Blue Pill devices)
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===============================================
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@ -276,3 +316,125 @@ start address of 16KiB. The easiest way to flash an application with
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this bootloader is to copy the application file (eg,
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`out/klipper.bin`) to a file named `firmware.bin` on an SD card, and
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then to reboot the micro-controller with that SD card.
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Running OpenOCD on the Raspberry PI
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===================================
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OpenOCD is a software package that can perform low-level chip flashing
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and debugging. It can use the GPIO pins on a Raspberry Pi to
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communicate with a variety of ARM chips.
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This section describes how one can install and launch OpenOCD. It is
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derived from the instructions at:
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[https://learn.adafruit.com/programming-microcontrollers-using-openocd-on-raspberry-pi](https://learn.adafruit.com/programming-microcontrollers-using-openocd-on-raspberry-pi)
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Begin by downloading and compiling the software (each step may take
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several minutes and the "make" step may take 30+ minutes):
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```
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sudo apt-get update
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sudo apt-get install autoconf libtool telnet
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mkdir ~/openocd
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cd ~/openocd/
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git clone http://openocd.zylin.com/openocd
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cd openocd
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./bootstrap
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./configure --enable-sysfsgpio --enable-bcm2835gpio --prefix=/home/pi/openocd/install
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make
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make install
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```
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## Configure OpenOCD
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Create an OpenOCD config file:
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```
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nano ~/openocd/openocd.cfg
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```
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Use a config similar to the following:
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```
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# Uses RPi pins: GPIO25 for SWDCLK, GPIO24 for SWDIO, GPIO18 for nRST
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source [find interface/raspberrypi2-native.cfg]
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bcm2835gpio_swd_nums 25 24
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bcm2835gpio_srst_num 18
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transport select swd
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# Set the chip (at91samd51j19 in this example)
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set CHIPNAME at91samd51j19
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source [find target/atsame5x.cfg]
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# Set the adapter speed
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adapter_khz 40
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adapter_nsrst_delay 100
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adapter_nsrst_assert_width 100
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init
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targets
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reset halt
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```
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## Wire the Raspberry Pi to the target chip
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Poweroff both the the Raspberry Pi and the target chip before wiring!
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Verify the target chip uses 3.3V prior to connecting to a Raspberry
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Pi!
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Connect GND, SWDCLK, SWDIO, and RST on the target chip to GND, GPIO25,
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GPIO24, and GPIO18 respectively on the Raspberry Pi.
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Then power up the Raspberry Pi and provide power to the target chip.
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## Run OpenOCD
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Run OpenOCD:
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```
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cd ~/openocd/
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sudo ~/openocd/install/bin/openocd -f ~/openocd/openocd.cfg
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```
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The above should cause OpenOCD to emit some text messages and then
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wait (it should not immediately return to the Unix shell prompt). If
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OpenOCD exits on its own or if it continues to emit text messages then
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double check the wiring.
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Once OpenOCD is running and is stable, one can send it commands via
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telnet. Open another ssh session and run the following:
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```
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telnet 127.0.0.1 4444
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```
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(One can exit telnet by pressing ctrl+] and then running the "quit"
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command.)
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## OpenOCD and gdb
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It is possible to use OpenOCD with gdb to debug Klipper. The following
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commands assume one is running gdb on a desktop class machine.
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Add the following to the OpenOCD config file:
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```
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bindto 0.0.0.0
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gdb_port 44444
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```
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Restart OpenOCD on the Raspberry Pi and then run the following Unix
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command on the desktop machine:
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```
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cd /path/to/klipper/
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gdb out/klipper.elf
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```
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Within gdb run:
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```
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target remote octopi:44444
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```
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(Replace "octopi" with the host name of the Raspberry Pi.) Once gdb is
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running it is possible to set breakpoints and to inspect registers.
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