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			562 lines
		
	
	
		
			20 KiB
		
	
	
	
		
			Markdown
		
	
	
	
	
	
| This document provides information on common bootloaders found on
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| micro-controllers that Klipper supports.
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| 
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| The bootloader is 3rd-party software that runs on the micro-controller
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| when it is first powered on. It is typically used to flash a new
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| application (eg, Klipper) to the micro-controller without requiring
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| specialized hardware. Unfortunately, there is no industry wide
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| standard for flashing a micro-controller, nor is there a standard
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| bootloader that works across all micro-controllers. Worse, it is
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| common for each bootloader to require a different set of steps to
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| flash an application.
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| 
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| If one can flash a bootloader to a micro-controller then one can
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| generally also use that mechanism to flash an application, but care
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| should be taken when doing this as one may inadvertently remove the
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| bootloader. In contrast, a bootloader will generally only permit a
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| user to flash an application. It is therefore recommended to use a
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| bootloader to flash an application where possible.
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| 
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| This document attempts to describe common bootloaders, the steps
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| needed to flash a bootloader, and the steps needed to flash an
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| application.  This document is not an authoritative reference; it is
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| intended as a collection of useful information that the Klipper
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| developers have accumulated.
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| 
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| AVR micro-controllers
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| =====================
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| 
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| In general, the Arduino project is a good reference for bootloaders
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| and flashing procedures on the 8-bit Atmel Atmega micro-controllers.
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| In particular, the "boards.txt" file:
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| [https://github.com/arduino/Arduino/blob/1.8.5/hardware/arduino/avr/boards.txt](https://github.com/arduino/Arduino/blob/1.8.5/hardware/arduino/avr/boards.txt)
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| is a useful reference.
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| 
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| To flash a bootloader itself, the AVR chips require an external
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| hardware flashing tool (which communicates with the chip using
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| SPI). This tool can be purchased (for example, do a web search for
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| "avr isp", "arduino isp", or "usb tiny isp"). It is also possible to
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| use another Arduino or Raspberry Pi to flash an AVR bootloader (for
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| example, do a web search for "program an avr using raspberry pi"). The
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| examples below are written assuming an "AVR ISP Mk2" type device is in
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| use.
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| 
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| The "avrdude" program is the most common tool used to flash atmega
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| chips (both bootloader flashing and application flashing).
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| 
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| ## Atmega2560 ##
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| 
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| This chip is typically found in the "Arduino Mega" and is very common
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| in 3d printer boards.
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| 
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| To flash the bootloader itself use something like:
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| ```
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| wget 'https://github.com/arduino/Arduino/raw/1.8.5/hardware/arduino/avr/bootloaders/stk500v2/stk500boot_v2_mega2560.hex'
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| 
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| avrdude -cavrispv2 -patmega2560 -P/dev/ttyACM0 -b115200 -e -u -U lock:w:0x3F:m -U efuse:w:0xFD:m -U hfuse:w:0xD8:m -U lfuse:w:0xFF:m
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| avrdude -cavrispv2 -patmega2560 -P/dev/ttyACM0 -b115200 -U flash:w:stk500boot_v2_mega2560.hex
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| avrdude -cavrispv2 -patmega2560 -P/dev/ttyACM0 -b115200 -U lock:w:0x0F:m
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| ```
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| 
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| To flash an application use something like:
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| ```
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| avrdude -cwiring -patmega2560 -P/dev/ttyACM0 -b115200 -D -Uflash:w:out/klipper.elf.hex:i
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| ```
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| 
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| ## Atmega1280 ##
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| 
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| This chip is typically found in earlier versions of the "Arduino
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| Mega".
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| 
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| To flash the bootloader itself use something like:
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| ```
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| wget 'https://github.com/arduino/Arduino/raw/1.8.5/hardware/arduino/avr/bootloaders/atmega/ATmegaBOOT_168_atmega1280.hex'
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| 
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| avrdude -cavrispv2 -patmega1280 -P/dev/ttyACM0 -b115200 -e -u -U lock:w:0x3F:m -U efuse:w:0xF5:m -U hfuse:w:0xDA:m -U lfuse:w:0xFF:m
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| avrdude -cavrispv2 -patmega1280 -P/dev/ttyACM0 -b115200 -U flash:w:ATmegaBOOT_168_atmega1280.hex
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| avrdude -cavrispv2 -patmega1280 -P/dev/ttyACM0 -b115200 -U lock:w:0x0F:m
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| ```
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| 
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| To flash an application use something like:
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| ```
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| avrdude -carduino -patmega1280 -P/dev/ttyACM0 -b57600 -D -Uflash:w:out/klipper.elf.hex:i
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| ```
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| 
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| ## Atmega1284p ##
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| 
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| This chip is commonly found in "Melzi" style 3d printer boards.
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| 
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| To flash the bootloader itself use something like:
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| ```
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| wget 'https://github.com/Lauszus/Sanguino/raw/1.0.2/bootloaders/optiboot/optiboot_atmega1284p.hex'
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| 
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| avrdude -cavrispv2 -patmega1284p -P/dev/ttyACM0 -b115200 -e -u -U lock:w:0x3F:m -U efuse:w:0xFD:m -U hfuse:w:0xDE:m -U lfuse:w:0xFF:m
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| avrdude -cavrispv2 -patmega1284p -P/dev/ttyACM0 -b115200 -U flash:w:optiboot_atmega1284p.hex
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| avrdude -cavrispv2 -patmega1284p -P/dev/ttyACM0 -b115200 -U lock:w:0x0F:m
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| ```
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| 
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| To flash an application use something like:
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| ```
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| avrdude -carduino -patmega1284p -P/dev/ttyACM0 -b115200 -D -Uflash:w:out/klipper.elf.hex:i
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| ```
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| 
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| Note that a number of "Melzi" style boards come preloaded with a
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| bootloader that uses a baud rate of 57600. In this case, to flash an
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| application use something like this instead:
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| ```
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| avrdude -carduino -patmega1284p -P/dev/ttyACM0 -b57600 -D -Uflash:w:out/klipper.elf.hex:i
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| ```
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| 
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| ## At90usb1286 ##
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| 
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| This document does not cover the method to flash a bootloader to the
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| At90usb1286 nor does it cover general application flashing to this
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| device.
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| 
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| The Teensy++ device from pjrc.com comes with a proprietary bootloader.
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| It requires a custom flashing tool from
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| [https://github.com/PaulStoffregen/teensy_loader_cli](https://github.com/PaulStoffregen/teensy_loader_cli).
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| One can flash an application with it using something like:
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| 
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| ```
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| teensy_loader_cli --mcu=at90usb1286 out/klipper.elf.hex -v
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| ```
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| 
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| ## Atmega168 ##
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| 
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| The atmega168 has limited flash space. If using a bootloader, it is
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| recommended to use the Optiboot bootloader. To flash that bootloader
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| use something like:
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| ```
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| wget 'https://github.com/arduino/Arduino/raw/1.8.5/hardware/arduino/avr/bootloaders/optiboot/optiboot_atmega168.hex'
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| 
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| avrdude -cavrispv2 -patmega168 -P/dev/ttyACM0 -b115200 -e -u -U lock:w:0x3F:m -U efuse:w:0x04:m -U hfuse:w:0xDD:m -U lfuse:w:0xFF:m
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| avrdude -cavrispv2 -patmega168 -P/dev/ttyACM0 -b115200 -U flash:w:optiboot_atmega168.hex
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| avrdude -cavrispv2 -patmega168 -P/dev/ttyACM0 -b115200 -U lock:w:0x0F:m
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| ```
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| 
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| To flash an application via the Optiboot bootloader use something
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| like:
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| ```
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| avrdude -carduino -patmega168 -P/dev/ttyACM0 -b115200 -D -Uflash:w:out/klipper.elf.hex:i
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| ```
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| 
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| SAM3 micro-controllers (Arduino Due)
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| ====================================
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| 
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| It is not common to use a bootloader with the SAM3 mcu. The chip
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| itself has a ROM that allows the flash to be programmed from 3.3V
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| serial port or from USB.
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| 
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| To enable the ROM, the "erase" pin is held high during a reset, which
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| erases the flash contents, and causes the ROM to run. On an Arduino
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| Due, this sequence can be accomplished by setting a baud rate of 1200
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| on the "programming usb port" (the USB port closest to the power
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| supply).
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| 
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| The code at
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| [https://github.com/shumatech/BOSSA](https://github.com/shumatech/BOSSA)
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| can be used to program the SAM3. It is recommended to use version 1.9
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| or later.
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| 
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| To flash an application use something like:
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| ```
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| bossac -U -p /dev/ttyACM0 -a -e -w out/klipper.bin -v -b
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| bossac -U -p /dev/ttyACM0 -R
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| ```
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| 
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| SAM4 micro-controllers (Duet Wifi)
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| ====================================
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| 
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| It is not common to use a bootloader with the SAM4 mcu. The chip
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| itself has a ROM that allows the flash to be programmed from 3.3V
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| serial port or from USB.
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| 
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| To enable the ROM, the "erase" pin is held high during a reset, which
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| erases the flash contents, and causes the ROM to run.
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| 
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| The code at
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| [https://github.com/shumatech/BOSSA](https://github.com/shumatech/BOSSA)
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| can be used to program the SAM4. It is necessary to use version
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| `1.8.0` or higher.
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| 
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| To flash an application use something like:
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| ```
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| bossac --port=/dev/ttyACM0 -b -U -e -w -v -R out/klipper.bin
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| ```
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| 
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| SAMD21 micro-controllers (Arduino Zero)
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| =======================================
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| 
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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, one can use a
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| [Raspberry Pi with OpenOCD](#running-openocd-on-the-raspberry-pi).
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| 
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| To flash a bootloader with OpenOCD use the following chip config:
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| ```
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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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| 
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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 /dev/ttyACM0 --offset=0x2000 -w out/klipper.bin -v -b -R
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| ```
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| 
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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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| 
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| SAMD51 micro-controllers (Adafruit Metro-M4 and similar)
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| ========================================================
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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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| the following chip config:
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| ```
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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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| 
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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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| 
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| STM32F103 micro-controllers (Blue Pill devices)
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| ===============================================
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| 
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| The STM32F103 devices have a ROM that can flash a bootloader or
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| application via 3.3V serial. To access this ROM, one should connect
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| the "boot 0" pin to high and "boot 1" pin to low, and then reset the
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| device. The "stm32flash" package can then be used to flash the device
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| using something like:
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| ```
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| stm32flash -w out/klipper.bin -v -g 0 /dev/ttyAMA0
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| ```
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| 
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| Note that if one is using a Raspberry Pi for the 3.3V serial, the
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| stm32flash protocol uses a serial parity mode which the Raspberry Pi's
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| "miniuart" does not support. See
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| [https://www.raspberrypi.org/documentation/configuration/uart.md](https://www.raspberrypi.org/documentation/configuration/uart.md)
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| for details on enabling the full uart on the Raspberry Pi GPIO pins.
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| 
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| After flashing, set both "boot 0" and "boot 1" back to low so that
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| future resets boot from flash.
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| 
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| ## STM32F103 with stm32duino bootloader ##
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| 
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| The "stm32duino" project has a USB capable bootloader - see:
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| [https://github.com/rogerclarkmelbourne/STM32duino-bootloader](https://github.com/rogerclarkmelbourne/STM32duino-bootloader)
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| 
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| This bootloader can be flashed via 3.3V serial with something like:
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| ```
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| wget 'https://github.com/rogerclarkmelbourne/STM32duino-bootloader/raw/master/binaries/generic_boot20_pc13.bin'
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| 
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| stm32flash -w generic_boot20_pc13.bin -v -g 0 /dev/ttyAMA0
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| ```
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| 
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| This bootloader uses 8KiB of flash space (the application must be
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| compiled with a start address of 8KiB). Flash an application with
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| something like:
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| ```
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| dfu-util -d 1eaf:0003 -a 2 -R -D out/klipper.bin
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| ```
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| 
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| The bootloader typically runs for only a short period after boot. It
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| may be necessary to time the above command so that it runs while the
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| bootloader is still active (the bootloader will flash a board led
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| while it is running). Alternatively, set the "boot 0" pin to low and
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| "boot 1" pin to high to stay in the bootloader after a reset.
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| 
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| ## STM32F103 with HID bootloader ##
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| The [HID bootloader](https://github.com/Serasidis/STM32_HID_Bootloader) is a
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| compact, driverless bootloader capable of flashing over USB. Also available
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| is a [fork with builds specific to the SKR Mini E3 1.2](
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|   https://github.com/Arksine/STM32_HID_Bootloader/releases/tag/v0.5-beta).
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| 
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| For generic STM32F103 boards such as the blue pill it is possible to flash
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| the bootloader via 3.3v serial using stm32flash as noted in the stm32duino
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| section above, substituting the file name for the desired hid bootloader binary
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| (ie: hid_generic_pc13.bin for the blue pill).
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| 
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| It is not possible to use stm32flash for the SKR Mini E3 as the boot0 pin is
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| tied directly to ground and not broken out via header pins.  It is recommended
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| to use a STLink V2 with STM32Cubeprogrammer to flash the bootloader.   If you
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| don't have access to a STLink it is also possible to use a [Raspberry Pi and
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| OpenOCD](#running-openocd-on-the-raspberry-pi) with the following chip config:
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| ```
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| source [find target/stm32f1x.cfg]
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| ```
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| If you wish you can make a backup of the current flash with the following
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| command.  Note that it may take some time to complete:
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| ```
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| flash read_bank 0 btt_skr_mini_e3_backup.bin
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| ```
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| finally, you can flash with commands similar to:
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| ```
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| stm32f1x mass_erase 0
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| program hid_btt_skr_mini_e3.bin verify 0x08000000
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| ```
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| NOTES:
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| - The example above erases the chip then programs the bootloader.  Regardless
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|   of the method chosen to flash it is recommended to erase the chip prior to
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|   flashing.
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| - Prior flashing the SKR Mini E3 with this bootloader you should be aware
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|   that you will no longer be able to update firmware via the sdcard.
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| - You may need to hold down the reset button on the board while launching
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|   OpenOCD.  It should display something like:
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|   ```
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|   Open On-Chip Debugger 0.10.0+dev-01204-gc60252ac-dirty (2020-04-27-16:00)
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|   Licensed under GNU GPL v2
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|   For bug reports, read
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|           http://openocd.org/doc/doxygen/bugs.html
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|   DEPRECATED! use 'adapter speed' not 'adapter_khz'
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|   Info : BCM2835 GPIO JTAG/SWD bitbang driver
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|   Info : JTAG and SWD modes enabled
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|   Info : clock speed 40 kHz
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|   Info : SWD DPIDR 0x1ba01477
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|   Info : stm32f1x.cpu: hardware has 6 breakpoints, 4 watchpoints
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|   Info : stm32f1x.cpu: external reset detected
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|   Info : starting gdb server for stm32f1x.cpu on 3333
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|   Info : Listening on port 3333 for gdb connections
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|   ```
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|   After which you can release the reset button.
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| 
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| 
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| This bootloader requires 2KiB of flash space (the application
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| must be compiled with a start address of 2KiB).
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| 
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| The hid-flash program is used to upload a binary to the bootloader. You
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| can install this software with the following commands:
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| ```
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| sudo apt install libusb-1.0
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| cd ~/klipper/lib/hidflash
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| make
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| ```
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| 
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| If the bootloader is running you can flash with something like:
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| ```
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| ~/klipper/lib/hidflash/hid-flash ~/klipper/out/klipper.bin
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| ```
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| alternatively, you can use `make flash` to flash klipper directly:
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| ```
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| make flash FLASH_DEVICE=1209:BEBA
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| ```
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| OR if klipper has been previously flashed:
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| ```
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| make flash FLASH_DEVICE=/dev/ttyACM0
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| ```
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| 
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| It may be necessary to manually enter the bootloader, this can be done by
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| setting "boot 0" low and "boot 1" high.  On the SKR Mini E3 "Boot 1" is
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| not available, so it may be done by setting pin PA2 low if you flashed
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| "hid_btt_skr_mini_e3.bin".  This pin is labeld "TX0" on the TFT header in
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| the SKR Mini E3's "PIN" document. There is a ground pin next to PA2
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| which you can use to pull PA2 low.
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| 
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| STM32F4 micro-controllers (SKR Pro 1.1)
 | |
| ===============================================
 | |
| STM32F4 microcontrollers come equipped with a built-in system bootloader
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| capable of flashing over USB (via DFU), 3.3v Serial, and various other
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| methods (see STM Document AN2606 for more information).  Some
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| STM32F4 boards, such as the SKR Pro 1.1, are not able to enter the DFU
 | |
| bootloader.  The HID bootloader is available for STM32F405/407
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| based boards should the user prefer flashing over USB over using the sdcard.
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| Note that you may need to configure and build a version specific to your
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| board, a [build for the SKR Pro 1.1 is available here](
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|   https://github.com/Arksine/STM32_HID_Bootloader/releases/tag/v0.5-beta).
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| 
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| Unless your board is DFU capable the most accessable flashing method
 | |
| is likely via 3.3v serial, which follows the same procedure as [flashing the
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| STM32F103 using stm32flash](#stm32f103-micro-controllers-blue-pill-devices).
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| For example:
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| ```
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| wget https://github.com/Arksine/STM32_HID_Bootloader/releases/download/v0.5-beta/hid_bootloader_SKR_PRO.bin
 | |
| 
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| stm32flash -w hid_bootloader_SKR_PRO.bin -v -g 0 /dev/ttyAMA0
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| ```
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| 
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| This bootloader requires 16Kib of flash space on the STM32F4 (the application
 | |
| must be compiled with a start address of 16KiB).
 | |
| 
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| As with the STM32F1, the STM32F4 uses the hid-flash tool to upload binaries to
 | |
| the MCU. See the instructions above for details on how to build and use
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| hid-flash.
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| 
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| It may be necessary to manually enter the bootloader, this can be done by
 | |
| setting "boot 0" low, "boot 1" high and plugging in the device.  After
 | |
| programming is complete unplug the device and set "boot 1" back to low
 | |
| so the application will be loaded.
 | |
| 
 | |
| LPC176x micro-controllers (Smoothieboards)
 | |
| ==========================================
 | |
| 
 | |
| This document does not describe the method to flash a bootloader
 | |
| itself - see:
 | |
| [http://smoothieware.org/flashing-the-bootloader](http://smoothieware.org/flashing-the-bootloader)
 | |
| for further information on that topic.
 | |
| 
 | |
| It is common for Smoothieboards to come with a bootloader from:
 | |
| [https://github.com/triffid/LPC17xx-DFU-Bootloader](https://github.com/triffid/LPC17xx-DFU-Bootloader).
 | |
| When using this bootloader the application must be compiled with a
 | |
| start address of 16KiB. The easiest way to flash an application with
 | |
| this bootloader is to copy the application file (eg,
 | |
| `out/klipper.bin`) to a file named `firmware.bin` on an SD card, and
 | |
| then to reboot the micro-controller with that SD card.
 | |
| 
 | |
| Running OpenOCD on the Raspberry PI
 | |
| ===================================
 | |
| 
 | |
| OpenOCD is a software package that can perform low-level chip flashing
 | |
| and debugging. It can use the GPIO pins on a Raspberry Pi to
 | |
| communicate with a variety of ARM chips.
 | |
| 
 | |
| This section describes how one can install and launch OpenOCD. It is
 | |
| derived from the instructions at:
 | |
| [https://learn.adafruit.com/programming-microcontrollers-using-openocd-on-raspberry-pi](https://learn.adafruit.com/programming-microcontrollers-using-openocd-on-raspberry-pi)
 | |
| 
 | |
| Begin by downloading and compiling the software (each step may take
 | |
| several minutes and the "make" step may take 30+ minutes):
 | |
| 
 | |
| ```
 | |
| sudo apt-get update
 | |
| sudo apt-get install autoconf libtool telnet
 | |
| mkdir ~/openocd
 | |
| cd ~/openocd/
 | |
| git clone http://openocd.zylin.com/openocd
 | |
| cd openocd
 | |
| ./bootstrap
 | |
| ./configure --enable-sysfsgpio --enable-bcm2835gpio --prefix=/home/pi/openocd/install
 | |
| make
 | |
| make install
 | |
| ```
 | |
| 
 | |
| ## Configure OpenOCD
 | |
| 
 | |
| Create an OpenOCD config file:
 | |
| 
 | |
| ```
 | |
| nano ~/openocd/openocd.cfg
 | |
| ```
 | |
| 
 | |
| Use a config similar to the following:
 | |
| 
 | |
| ```
 | |
| # Uses RPi pins: GPIO25 for SWDCLK, GPIO24 for SWDIO, GPIO18 for nRST
 | |
| source [find interface/raspberrypi2-native.cfg]
 | |
| bcm2835gpio_swd_nums 25 24
 | |
| bcm2835gpio_srst_num 18
 | |
| transport select swd
 | |
| 
 | |
| # Use hardware reset wire for chip resets
 | |
| reset_config srst_only
 | |
| adapter_nsrst_delay 100
 | |
| adapter_nsrst_assert_width 100
 | |
| 
 | |
| # Specify the chip type
 | |
| source [find target/atsame5x.cfg]
 | |
| 
 | |
| # Set the adapter speed
 | |
| adapter_khz 40
 | |
| 
 | |
| # Connect to chip
 | |
| init
 | |
| targets
 | |
| reset halt
 | |
| ```
 | |
| 
 | |
| ## Wire the Raspberry Pi to the target chip
 | |
| 
 | |
| Poweroff both the the Raspberry Pi and the target chip before wiring!
 | |
| Verify the target chip uses 3.3V prior to connecting to a Raspberry
 | |
| Pi!
 | |
| 
 | |
| Connect GND, SWDCLK, SWDIO, and RST on the target chip to GND, GPIO25,
 | |
| GPIO24, and GPIO18 respectively on the Raspberry Pi.
 | |
| 
 | |
| Then power up the Raspberry Pi and provide power to the target chip.
 | |
| 
 | |
| ## Run OpenOCD
 | |
| 
 | |
| Run OpenOCD:
 | |
| 
 | |
| ```
 | |
| cd ~/openocd/
 | |
| sudo ~/openocd/install/bin/openocd -f ~/openocd/openocd.cfg
 | |
| ```
 | |
| 
 | |
| The above should cause OpenOCD to emit some text messages and then
 | |
| wait (it should not immediately return to the Unix shell prompt). If
 | |
| OpenOCD exits on its own or if it continues to emit text messages then
 | |
| double check the wiring.
 | |
| 
 | |
| Once OpenOCD is running and is stable, one can send it commands via
 | |
| telnet. Open another ssh session and run the following:
 | |
| 
 | |
| ```
 | |
| telnet 127.0.0.1 4444
 | |
| ```
 | |
| 
 | |
| (One can exit telnet by pressing ctrl+] and then running the "quit"
 | |
| command.)
 | |
| 
 | |
| ## OpenOCD and gdb
 | |
| 
 | |
| It is possible to use OpenOCD with gdb to debug Klipper. The following
 | |
| commands assume one is running gdb on a desktop class machine.
 | |
| 
 | |
| Add the following to the OpenOCD config file:
 | |
| 
 | |
| ```
 | |
| bindto 0.0.0.0
 | |
| gdb_port 44444
 | |
| ```
 | |
| 
 | |
| Restart OpenOCD on the Raspberry Pi and then run the following Unix
 | |
| command on the desktop machine:
 | |
| 
 | |
| ```
 | |
| cd /path/to/klipper/
 | |
| gdb out/klipper.elf
 | |
| ```
 | |
| 
 | |
| Within gdb run:
 | |
| 
 | |
| ```
 | |
| target remote octopi:44444
 | |
| ```
 | |
| 
 | |
| (Replace "octopi" with the host name of the Raspberry Pi.) Once gdb is
 | |
| running it is possible to set breakpoints and to inspect registers.
 |