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Bootloaders.html

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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>
+
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         <li class="md-nav__item">
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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">
@@ -1796,6 +1810,46 @@ <h2 id="sam4-micro-controllers-duet-wifi">SAM4 micro-controllers (Duet Wifi)<a c
 <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.