Chestnut V2.0

Flashing with SWD via raspberry pi with openocd

Default RPI-2 B settings

ip: 192.168.0.106

user: pi pw: Roboy2016

access RPI

ssh pi@192.168.0.106

working dir:

cd ~/Projekts/openocd/testing/samd21/

At91samd was programmed via openocd with an raspberry pi (https://iosoft.blog/2019/01/28/raspberry-pi-openocd/)

config file

Pin header chestNut-PCB

1 VCC +3.3V 2 SWDIO 3 SWCLK 4 NC/ 5 RESET 6 GND

##master config source rpi2.cfg

transport select swd adapter_khz 1000

set CHIPNAME at91samd21g18 source [find target/at91samdXX.cfg]

bindto 0.0.0.0

##raspberry config

rpi2.cfg: OpenOCD interface on RPi v2+

echo "rpi2 cfg"

Use RPi GPIO pins

interface bcm2835gpio

Base address of I/O port

bcm2835gpio_peripheral_base 0x3F000000

Clock scaling

bcm2835gpio_speed_coeffs 146203 36

SWD swclk swdio

Header pin numbers 22 18

bcm2835gpio_swd_nums 25 24

JTAG tck tms tdi tdo

Header pin numbers 22 18 16 15

bcm2835gpio_jtag_nums 25 24 23 22

bcm2835gpio_srst_num 18 reset_config srst_only srst_push_pull

##rpi commands ###start openocd server sudo openocd -f samd21_test.cfg ###telnet telnet localhost 4444 ###telnet commands init targets reset halt at91samd chip-erase reset halt at91samd bootloader 0 #program /home/pi/Projekts/openocd/testing/samd21/samd21_mkr1000.bin verify #program /home/pi/Projekts/openocd/testing/samd21/samd21_sam_ba.bin verify #program /home/pi/Projekts/openocd/testing/samd21/zero/samd21_sam_ba.bin verify program /home/pi/Projekts/openocd/testing/samd21/samd21_genu_mkr1000.bin verify

at91samd bootloader 8192 reset shutdown

#then mk1000 can be seltected in arduino after init flash the board will apear as "arduino zero"

Arduino head changes Changed Pins.ino for finger.h file

finger[0].attach(10, 11, A1, A9, false); // attach the thumb finger[3].attach(4, 3, A0, 1, false); // attach the ring & pinky (fingers are inverted) finger[1].attach(9, 6, A3, 0, false); // attach the index (finger is inverted) finger[2].attach(5, 12, A2, A5, false); //doesn't move (could be wronge pin

#dump deltet ...... : interface cmsis-dap transport select swd #Target set CHIPNAME at91samd21e18 source [find target/at91samdXX2.cfg] #source [find target/stm32f1x.cfg]

init targets reset halt at91samd chip-erase reset halt at91samd bootloader 0 program D:/projects/SAMD_Loader/Firmware/all.bin verify at91samd bootloader 8192 reset shutdown