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FA2022 Embedded Programming Environment

UPDI Programmer

What to make

USB-D11C-serial Serial UPDI-3 pin
SAMD11C
Regulator 3.3V SOT23-3
Capacitor 1uF
0 ohm Registor x2
2x2 SMD PinHeader for SWD(0.1”)
1x5 SMD angle PinSocket for Serial		 1x5 SMD angle PinHeader for Serial
4.99 kohm
1x3 SMD angle PinSocket for UPDI
traces offset number: 0 ( = fill)
interior		 traces
interior

How to make

Programmer to make UPDI Programmer

Atmel ICE 117 USD
Windows
Microchip Studio
Burn Bootloader to SAMD11C with Microchip Studio

Mac, Linux
OpenOCD
Ref
MAX32625PICO 14 USD
ARM Cortex M4
Raspberry Pi 4B 45 USD(2GB) - 75 USD(8GB)
Linux
OpenOCD
Ref
Raspberry Pi Pico 4 USD
ARM Cortex M0+

OpenOCD
Picprobe
Ref
Seeeduino Xiao 5 USD
ARM Cortex M0+

Mac
OpenOCD
DAPLink For Arduino Boards
Seeed Xiao as DAPLink to burn bootloader the SAMD11 boards

Words

Words .
OpenOCD
softwaer in PC		 Open On-Chip Debugger
cross platform, open source
EDBG
softwaer in PC		 Embedded Debugger
CMSIS-DAP programmer through SWD interface
works on Linux, Mac OS X and Windows
tested with Atmel mEDBG- and EDBG-based boards, Atmel-ICE and Free-DAP-based debuggers
Free-DAP
firmware in programmer board		 free and open implementation of the CMSIS-DAP debugger firmware
DAP: Debug Access Port
SWD and JTAG protocols are supported
DAPLink
firmware in programmer board		 Arm Mbed DAPLink
open source software project that programs and debugs application software running on Arm Cortex CPUs
JTAG
interface for verifying and testing		 Joint Test Action Group
4 signal lines + Vref + GND
in use for multiple microcontroller/processor architectures aside from ARM
TCK, TMS, TDI, TDO, TRES
SWD
interface for verifying and testing		 Serial Wire Debug
2 signal lines + Vref + GND
ARM specific protocol designed specifically for micro debugging
SWCLK, SWDIO

Install EDBG

Mac OS

Install Homebrew 

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% which brew
/usr/local/bin/brew

Install hidapi 

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% brew list
hidapi

Download EDBG FAIL 

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% cd Downloads
% ls
edbg-master.zip
% unzip edbg-master.zip
% ls
edbg-master
edbg-master.zip
% cd edbg-master
% make all
gcc -I/usr/local/include/hidapi -W -Wall -Wextra -O3 -std=gnu11 dap.c edbg.c target.c target_atmel_cm0p.c target_atmel_cm3.c target_atmel_cm4.c target_atmel_cm7.c target_atmel_cm4v2.c target_mchp_cm23.c target_st_stm32g0.c target_gd_gd32f4xx.c target_nu_m480.c target_lattice_lcmxo2.c  dbg_mac.c -framework IOKit -framework Foundation -framework CoreFoundation -framework Cocoa /usr/local/lib/libhidapi.a -o edbg
clang: error: no such file or directory: '/usr/local/lib/libhidapi.a'
make: *** [edbg] Error 1
Download binary edbg-macos

  • Ref.EDBG
  • Sign in GitHub is required
  • latest build > Artifacts
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% cd Downloads
% ls
edbg-macos.zip
% unzip edbg-macos.zip
% ls
edbg
edbg-macos.zip
% edbg -h
zsh: permission denied: edbg
% ls -la | grep edbg
-rw-r--r--@    1 yuichi  staff     133736  9 16 11:01 edbg
% chmod u+x edbg  
% ls -la | grep edbg
-rwxr--r--@    1 yuichi  staff     133736  9 16 11:01 edbg

% edbg -h
zsh: killed     edbg -h
Security Alert .
Cannot open because the developer cannot be verified
Cancel
Click “?” on left to get hint
Security and Privacy
Allow applications from App Store and confirmed developers
Use of edbg was blocked because the developer was not confirmed
Allow as it is
Unable to verify the developer of edbg. Are you sure you want to open it?
Open		 
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% edbg -h
CMSIS-DAP SWD programmer. Built Sep 16 2021 11:01:45.

Usage: edbg [options]
Options:
  -h, --help                 print this help message and exit
  -b, --verbose              print verbose messages
  -e, --erase                perform a chip erase before programming
  -p, --program              program the chip
  -v, --verify               verify memory
  -k, --lock                 lock the chip (set security bit)
  -u, --unlock               unlock the chip (forces chip erase in most cases)
  -r, --read                 read the whole content of the chip flash
  -f, --file <file>          binary file to be programmed or verified; also read output file name
  -t, --target <name>        specify a target type (use '-t list' for a list of supported target types)
  -l, --list                 list all available debuggers
  -s, --serial <number>      use a debugger with a specified serial number or index in the list
  -c, --clock <freq>         interface clock frequency in kHz (default 16000)
  -o, --offset <offset>      offset for the operation
  -z, --size <size>          size for the operation
  -F, --fuse <options>       operations on the fuses (use '-F help' for details)

PATH

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% pwd
/Users/yuichi/Downloads
% mv edbg ~
% cd ~
% ls
edbg
% pwd
/Users/yuichi

% echo $PATH
/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin
% ls -la
.zshrc
% nano .zshrc

Add export PATH="/Users/yuichi:$PATH" in .zshrc and save 

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% source ~/.zshrc
% echo $PATH
/Users/yuichi/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin

% cd Desktop
% edbg -h
CMSIS-DAP SWD programmer. Built Sep 16 2021 11:01:45.

Connection between USB-D11C-serial board and programmer

ATMEL ICE

{width=300}

Bootloader

Download bootloader: sam_ba_Generic_D11C14A_SAMD11C14A.bin

ATMEL ICE
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% lsusb
Bus 020 Device 006: ID 03eb:2141 Atmel Corporation Atmel-ICE CMSIS-DAP  Serial: J41800075942

Burn bootloader to USB-D11C-serial board from pragrammer board

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% cd Downloads
% ls
sam_ba_Generic_D11C14A_SAMD11C14A.bin
% edbg -b -t samd11 -pv -f sam_ba_Generic_D11C14A_SAMD11C14A.bin
Debugger: ATMEL Atmel-ICE CMSIS-DAP J41800075942 1.0 (SJ)
Clock frequency: 16.0 MHz
Error: invalid response during transfer (count = 0/1, status = 0)
MAX32625PICO

Ref.MAX32625PICO

Hold down the button while connecting the board to your computers USB port. A drive named “MAINTENANCE” will appear.

Download max32625pico_daplink.bin default DAPLink image

Save the program binary file to your MAINTENANCE Microcontroller Disk, just like you would with a normal USB disk

disconnected and reconnected, the board will appear as a drive named “DAPLINK” 

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% lsusb
Bus 020 Device 002: ID 0d28:0204 0d28 DAPLink CMSIS-DAP  Serial: 04090000b9e3081500000000000000000000000097969906
% edbg -b -t samd11 -pv -f sam_ba_Generic_D11C14A_SAMD11C14A.bin
Error: invalid response received
% edbg -b -t samd11 -pv -f sam_ba_Generic_D11C14A_SAMD11C14A.bin -s 04090000b9e3081500000000000000000000000097969906
Error: invalid response received

Install OpenOCD

Mac OS

Ref. README.macOS

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% brew install openocd
% which openocd
/usr/local/bin/openocd
Download bootloader for SAMD11 

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% cd Downloads
% ls
atsamd11-master-bootloader.zip
% unzip atsamd11-master-bootloader.zip
% ls
atsamd11-master-bootloader
atsamd11-master-bootloader.zip
% cd atsamd11-master-bootloader
bootloader
% cd bootloader/
% ls
sam_ba_Generic_D11C14A_SAMD11C14A.bin
openocd.cfg
unprotect_bootloader.cfg
ATMEL ICE FAIL
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% ls
sam_ba_Generic_D11C14A_SAMD11C14A.bin
openocd.cfg
unprotect_bootloader.cfg

% lsusb
Bus 020 Device 038: ID 03eb:2141 Atmel Corporation Atmel-ICE CMSIS-DAP  Serial: J41800075942

% openocd
Open On-Chip Debugger 0.11.0
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
DEPRECATED! use 'adapter driver' not 'interface'
Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'.
Info : CMSIS-DAP: SWD  Supported
Info : CMSIS-DAP: JTAG Supported
Info : CMSIS-DAP: FW Version = 1.0
Info : CMSIS-DAP: Serial# = J41800075942
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 1 SWDIO/TMS = 1 TDI = 1 TDO = 1 nTRST = 0 nRESET = 1
Info : CMSIS-DAP: Interface ready
Info : clock speed 400 kHz
Error: Error connecting DP: cannot read IDR


Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections

ref. ATMelICE signed dummy kext for MacOS X High Sierra

MAX32625PICO FAIL
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% lsusb
Bus 020 Device 043: ID 0d28:0204 0d28 DAPLink CMSIS-DAP  Serial: 04090000b9e3081500000000000000000000000097969906

% openocd
Open On-Chip Debugger 0.11.0
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
DEPRECATED! use 'adapter driver' not 'interface'
Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'.
Info : CMSIS-DAP: SWD  Supported
Info : CMSIS-DAP: FW Version = 1.0
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Info : CMSIS-DAP: Interface ready
Info : clock speed 400 kHz
Error: Error connecting DP: cannot read IDR


Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
USB-D11C-SWD-10 pin
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% openocd           
Open On-Chip Debugger 0.11.0
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
DEPRECATED! use 'adapter driver' not 'interface'
Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'.
Info : CMSIS-DAP: SWD  Supported
Info : CMSIS-DAP: FW Version = v0.1
Info : CMSIS-DAP: Serial# = 774E439B
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 1 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0 nRESET = 1
Info : CMSIS-DAP: Interface ready
Info : clock speed 400 kHz
Info : SWD DPIDR 0x0bc11477
Info : at91samd11c14a.cpu: hardware has 4 breakpoints, 2 watchpoints
Info : starting gdb server for at91samd11c14a.cpu on 3333
Info : Listening on port 3333 for gdb connections
target halted due to debug-request, current mode: Thread
xPSR: 0x41000000 pc: 0x000004a0 msp: 0x20000ffc
target halted due to debug-request, current mode: Thread
xPSR: 0x41000000 pc: 0x000004a0 msp: 0x20000ffc
** Programming Started **
Info : SAMD MCU: SAMD11C14A (16KB Flash, 4KB RAM)
** Programming Finished **
** Verify Started **
** Verified OK **
shutdown command invoked
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections

disable protection for overwrite

Note that once the bootloader is on your board, OpenOCD will complain if you try to overwrite it with something else. This happens because the bootloader is protected.
To disable this protection, run
openocd -f unprotect_bootloader.cfg Then you can overwrite it without any issues.

Raspberry Pi

Set up

Download Raspberry Pi Imager

Ctrl-Shift-X to open Advanced menu



Write Operating System RASPBERRY PI OS (32-BIT) to Storage microSD card

Ref. Programming Microcontrollers using OpenOCD on a Raspberry Pi

In mac’s terminal 

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% ssh pi@raspberrypi.local
@       WARNING: POSSIBLE DNS SPOOFING DETECTED!          @
% ssh-keygen -R raspberrypi.local

The authenticity of host 'raspberrypi.local (fe80::faab:348c:edcd:446f%en0)' can't be established.
ECDSA key fingerprint is SHA256:Dxs24lNBk9lAubin3bRb9H4FMjG5NFNVr6mNUVaCcbw.
Are you sure you want to continue connecting (yes/no/[fingerprint])? yes

$ sudo apt-get update

$ sudo apt-get install git autoconf libtool make pkg-config libusb-1.0-0 libusb-1.0-0-dev

$ git clone http://openocd.zylin.com/openocd

$ ls
openocd
$ cd openocd
$ ls
bootstrap
$ ./bootstrap

$ ./configure --enable-sysfsgpio --enable-bcm2835gpio

$ ls
makefile
$ make
$ sudo make install

$ cd /usr/local/share/openocd/scripts/interface
$ ls
raspberrypi2-native.cfg

Connection

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$ cd ~
$ mkdir bootloader
$ cd bootloader

$ wget https://github.com/mattairtech/ArduinoCore-samd/blob/master/bootloaders/zero/binaries/sam_ba_Generic_D11C14A_SAMD11C14A.bin
$ ls
sam_ba_Generic_D11C14A_SAMD11C14A.bin

$ nano openocd.cfg

Copy below and save
You may need to also comment out like # reset_config srst_nogate

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source [find interface/raspberrypi2-native.cfg]
transport select swd

set CHIPNAME at91samd11c14a
source [find target/at91samdXX.cfg]

# did not yet manage to make a working setup using srst
#reset_config srst_only
reset_config  srst_nogate

adapter_nsrst_delay 100
adapter_nsrst_assert_width 100

init
targets
reset halt

Burn Bootloader (Pi4) FAIL 

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$ sudo openocd
Open On-Chip Debugger 0.11.0+dev-00450-gbe57b0ab8 (2021-11-13-12:31)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
DEPRECATED! use 'adapter srst delay' not 'adapter_nsrst_delay'
DEPRECATED! use 'adapter srst pulse_width' not 'adapter_nsrst_assert_width'
Info : BCM2835 GPIO JTAG/SWD bitbang driver
Info : clock speed 400 kHz
Error: Error connecting DP: cannot read IDR


Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections

Connection (Pi3) 

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$ pinout
   3V3  (1) (2)  5V    
 GPIO2  (3) (4)  5V    
 GPIO3  (5) (6)  GND   
 GPIO4  (7) (8)  GPIO14
   GND  (9) (10) GPIO15
GPIO17 (11) (12) GPIO18
GPIO27 (13) (14) GND   
GPIO22 (15) (16) GPIO23
   3V3 (17) (18) GPIO24
GPIO10 (19) (20) GND   
 GPIO9 (21) (22) GPIO25
GPIO11 (23) (24) GPIO8
   GND (25) (26) GPIO7
 GPIO0 (27) (28) GPIO1
 GPIO5 (29) (30) GND   
 GPIO6 (31) (32) GPIO12
GPIO13 (33) (34) GND   
GPIO19 (35) (36) GPIO16
GPIO26 (37) (38) GPIO20
   GND (39) (40) GPIO21

$ cd /usr/local/share/openocd/scripts/interface
$ nano raspberrypi2-native.cfg

bcm2835gpio_peripheral_base

raspi Zero:0x20000000
bcm2835gpio peripheral_base 0x20000000

raspi 3B/3B+:0x3F000000
bcm2835gpio peripheral_base 0x3F000000

raspi 4B:0x7E000000
bcm2835gpio peripheral_base 0x7E000000 

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bcm2835gpio peripheral_base 0x3F000000

# Each of the SWD lines need a gpio number set: swclk swdio
# Header pin numbers: 23 22
bcm2835gpio swd_nums 11 25
SWCLK GPIO_11 (Pin23)
SWDIO GPIO_25 (Pin22)
GND (Pin20)
3V3 (Pin1) if not connected USB
RST NOT CONNECT ANY PIN

Burn Bootloader (Pi3) better

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$ cd
$ ls
bootloader
$ cd bootloader
$ ls
openocd.cfg  sam_ba_Generic_D11C14A_SAMD11C14A.bin
$ openocd
$ nano bootloader.cfg

Copy the following into bootloader.cfg 

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source [find interface/raspberrypi2-native.cfg]
bcm2835gpio_speed_coeffs 194938 48

transport select swd

set CHIPNAME at91samd11c14a
source [find target/at91samdXX.cfg]

# did not yet manage to make a working setup using srst
#reset_config srst_only
reset_config  srst_nogate

adapter_nsrst_delay 100
adapter_nsrst_assert_width 100

init
targets
reset halt

at91samd bootloader 0
program sam_ba_Generic_D11C14A_SAMD11C14A.bin
at91samd bootloader 8192
reset
shutdown

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$ openocd -f bootloader.cfg
Open On-Chip Debugger 0.11.0+dev-00471-gcaa169813 (2021-11-20-12:24)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
DEPRECATED! use 'bcm2835gpio speed_coeffs' not 'bcm2835gpio_speed_coeffs'
DEPRECATED! use 'adapter speed' not 'adapter_khz'
DEPRECATED! use 'adapter srst delay' not 'adapter_nsrst_delay'
DEPRECATED! use 'adapter srst pulse_width' not 'adapter_nsrst_assert_width'
Info : BCM2835 GPIO JTAG/SWD bitbang driver
Info : clock speed 125 kHz
Info : SWD DPIDR 0x0bc11477
Info : at91samd11c14a.cpu: Cortex-M0+ r0p1 processor detected
Info : at91samd11c14a.cpu: target has 4 breakpoints, 2 watchpoints
Info : at91samd11c14a.cpu: external reset detected
Info : starting gdb server for at91samd11c14a.cpu on 3333
Info : Listening on port 3333 for gdb connections
target halted due to debug-request, current mode: Thread
xPSR: 0x71000000 pc: 0xfffffffe msp: 0xfffffffc
target halted due to debug-request, current mode: Thread
xPSR: 0x71000000 pc: 0xfffffffe msp: 0xfffffffc
** Programming Started **
Info : SAMD MCU: SAMD11C14A (16KB Flash, 4KB RAM)
Warn : no flash bank found for address 0x00004000
** Programming Finished **
Error: at91samd11c14a.cpu -- clearing lockup after double fault
target halted due to debug-request, current mode: Handler HardFault
xPSR: 0x71000003 pc: 0xfffffffe msp: 0x0a0a09e8
shutdown command invoked

—

Install EDBG

Ubuntu

Download binary edbg-linux

  • Ref.EDBG
  • Sign in GitHub is required
  • latest build > Artifacts
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$ sudo apt update
$ sudo apt install libudev-dev

$ cd Downloads/
$ ls
edbg-linux.zip
$ unzip edbg-linux.zip
$ ls
edbg
edbg-linux.zip

$ ./edbg --help
bash: ./edbg: Permission denied

$ ls -la
-rw-r--r--  1 parallels parallels 113016 Nov 19 19:07 edbg
$ chmod u+x edbg
$ ls -la
-rwxr--r--  1 parallels parallels 113016 Nov 19 19:07 edbg
$ ./edbg -h
CMSIS-DAP SWD programmer. Built Nov 19 2021 19:07:46.

Usage: ./edbg [options]
Options:
  -h, --help                 print this help message and exit

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$ wget https://github.com/mattairtech/ArduinoCore-samd/blob/master/bootloaders/zero/binaries/sam_ba_Generic_D11C14A_SAMD11C14A.bin
$ ls
edbg
edbg-linux.zip
sam_ba_Generic_D11C14A_SAMD11C14A.bin

$ lsusb
Bus 001 Device 012: ID 03eb:2141 Atmel Corp. ICE debugger

$ ./edbg -b -t samd11 -pv -f sam_ba_Generic_D11C14A_SAMD11C14A.bin
debugger write(): Bad file descriptor

$ ./edbg -b -t samd11 -epv -f sam_ba_Generic_D11C14A_SAMD11C14A.bin
debugger write(): Bad file descriptor

$ sudo ./edbg -b -t samd11 -pv -f sam_ba_Generic_D11C14A_SAMD11C14A.bin
[sudo] password for parallels:
Debugger: ATMEL Atmel-ICE CMSIS-DAP J41800075942 1.0 (SJ)
Clock frequency: 16.0 MHz
Error: invalid response during transfer (count = 0/1, status = 0)

$ lsusb
Bus 002 Device 002: ID 0d28:0204 NXP LPC1768
$ sudo ./edbg -b -t samd11 -pv -f sam_ba_Generic_D11C14A_SAMD11C14A.bin
Debugger: ARM DAPLink CMSIS-DAP 04090000b9e3081500000000000000000000000097969906 1.0 (S)
Clock frequency: 16.0 MHz
Error: invalid response during transfer (count = 0/1, status = 7)

Raspbery Pi 3 + OpenOCD

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$ cat /usr/local/share/openocd/scripts/interface/raspberrypi2-native.cfg

#
# Config for using Raspberry Pi's expansion header
#
# This is best used with a fast enough buffer but also
# is suitable for direct connection if the target voltage
# matches RPi's 3.3V and the cable is short enough.
#
# Do not forget the GND connection, pin 6 of the expansion header.
#

adapter driver bcm2835gpio

bcm2835gpio peripheral_base 0x3F000000

# Transition delay calculation: SPEED_COEFF/khz - SPEED_OFFSET
# These depend on system clock, calibrated for stock 700MHz
# bcm2835gpio speed SPEED_COEFF SPEED_OFFSET
bcm2835gpio speed_coeffs 146203 36

# Each of the JTAG lines need a gpio number set: tck tms tdi tdo
# Header pin numbers: 23 22 19 21
bcm2835gpio jtag_nums 11 25 10 9

# Each of the SWD lines need a gpio number set: swclk swdio
# Header pin numbers: 23 22
bcm2835gpio swd_nums 11 25

# If you define trst or srst, use appropriate reset_config
# Header pin numbers: TRST - 26, SRST - 18

# bcm2835gpio trst_num 7
# reset_config trst_only

# bcm2835gpio srst_num 24
# reset_config srst_only srst_push_pull

# or if you have both connected,
# reset_config trst_and_srst srst_push_pull

Note

As default in raspberrypi2-native.cfg ,
SWD CLK is GPIO_11
SWD DIO is GPIO_25
SWD RST does not set

$ nano openocd.cfg

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source [find interface/raspberrypi2-native.cfg]
transport select swd

set CHIPNAME at91samd11c14a
source [find target/at91samdXX.cfg]

# did not yet manage to make a working setup using srst
#reset_config srst_only
reset_config  srst_nogate

# says next two lines are deprecated
#adapter_nsrst_delay 100
#adapter_nsrst_assert_width 100
adapter srst delay 100
adapter srst pulse_width 100


bcm2835gpio_swd_nums 25 24
#bcm2835gpio_trst_num 7
bcm2835gpio_srst_num 18

init
targets
reset halt

Note

You can set SWD pins like bcm2835gpio_swd_nums 25 24
SWD CLK is GPIO_25
SWD DIO is GPIO_24

Reset pin can be set like bcm2835gpio_srst_num 18
SWD RST is GPIO_18

Wiring

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$ pinout

   3V3  (1) (2)  5V    
 GPIO2  (3) (4)  5V    
 GPIO3  (5) (6)  GND   
 GPIO4  (7) (8)  GPIO14
   GND  (9) (10) GPIO15
GPIO17 (11) (12) GPIO18
GPIO27 (13) (14) GND   
GPIO22 (15) (16) GPIO23
   3V3 (17) (18) GPIO24
GPIO10 (19) (20) GND   
 GPIO9 (21) (22) GPIO25
GPIO11 (23) (24) GPIO8
   GND (25) (26) GPIO7
 GPIO0 (27) (28) GPIO1
 GPIO5 (29) (30) GND   
 GPIO6 (31) (32) GPIO12
GPIO13 (33) (34) GND   
GPIO19 (35) (36) GPIO16
GPIO26 (37) (38) GPIO20
   GND (39) (40) GPIO21


SAMD11C board Raspberry Pi3
RST GPIO18
GND GND
DIO GPIO24
CLK GPIO25 
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$ sudo openocd
Open On-Chip Debugger 0.11.0+dev-00502-gf66a16c4a (2021-11-28-15:06)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
DEPRECATED! use 'bcm2835gpio swd_nums' not 'bcm2835gpio_swd_nums'
DEPRECATED! use 'bcm2835gpio srst_num' not 'bcm2835gpio_srst_num'
Info : BCM2835 GPIO JTAG/SWD bitbang driver
Info : clock speed 400 kHz
Info : SWD DPIDR 0x0bc11477
Info : at91samd11c14a.cpu: Cortex-M0+ r0p1 processor detected
Info : at91samd11c14a.cpu: target has 4 breakpoints, 2 watchpoints
Error: at91samd11c14a.cpu -- clearing lockup after double fault
Info : at91samd11c14a.cpu: external reset detected
Info : starting gdb server for at91samd11c14a.cpu on 3333
Info : Listening on port 3333 for gdb connections
target halted due to debug-request, current mode: Thread
xPSR: 0x91000000 pc: 0xfffffffe msp: 0xfffffffc
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections

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$ git clone https://gitlab.cba.mit.edu/pub/hello-world/atsamd11.git

Add below at the end of openocd.cfg 

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at91samd bootloader 0
program sam_ba_Generic_D11C14A_SAMD11C14A.bin verify
at91samd bootloader 4096
reset
shutdown

$ nano openocd.cfg

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source [find interface/raspberrypi2-native.cfg]
transport select swd

set CHIPNAME at91samd11c14a
source [find target/at91samdXX.cfg]


# did not yet manage to make a working setup using srst
#reset_config srst_only
# reset_config  srst_nogate

adapter speed 200

adapter srst delay 100
adapter srst pulse_width 100

bcm2835gpio swd_nums 25 24
bcm2835gpio trst_num 7
bcm2835gpio srst_num 18

init
targets
#reset halt
reset init

at91samd bootloader 0
program sam_ba_Generic_D11C14A_SAMD11C14A.bin verify
at91samd bootloader 4096
reset
shutdown
Result 
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Open On-Chip Debugger 0.11.0+dev-00502-gf66a16c4a (2021-11-28-15:06)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
Info : BCM2835 GPIO JTAG/SWD bitbang driver
Info : clock speed 200 kHz
Info : SWD DPIDR 0x0bc11477
Info : at91samd11c14a.cpu: Cortex-M0+ r0p1 processor detected
Info : at91samd11c14a.cpu: target has 4 breakpoints, 2 watchpoints
Info : starting gdb server for at91samd11c14a.cpu on 3333
Info : Listening on port 3333 for gdb connections
target halted due to debug-request, current mode: Thread
xPSR: 0x91000000 pc: 0xfffffffe msp: 0xfffffffc
target halted due to debug-request, current mode: Thread
xPSR: 0x91000000 pc: 0xfffffffe msp: 0xfffffffc
** Programming Started **
Info : SAMD MCU: SAMD11C14A (16KB Flash, 4KB RAM)
Warn : no flash bank found for address 0x00004000
** Programming Finished **
** Verify Started **
Error: at91samd11c14a.cpu -- clearing lockup after double fault
Error: error executing cortex_m crc algorithm
Info : SWD DPIDR 0x0bc11477
Error: Failed to read memory at 0x00004000
embedded:startup.tcl:1070: Error: ** Verify Failed **
in procedure 'script'
at file "embedded:startup.tcl", line 26
in procedure 'program' called at file "openocd.cfg", line 27
in procedure 'program_error' called at file "embedded:startup.tcl", line 1131
at file "embedded:startup.tcl", line 1070
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections


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$ cd
$ git clone https://gitlab.cba.mit.edu/pub/hello-world/atsamd11.git
$ ls
atsamd11
$ cd atsamd11
$ ls
bootloader
$ cd bootloader/
$ ls
openocd.cfg
README.md
sam_ba_Generic_D11C14A_SAMD11C14A.bin
unprotect_bootloader.cfg

$ nano openocd.cfg

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source [find interface/raspberrypi2-native.cfg]
transport select swd

set CHIPNAME at91samd11c14a
source [find target/at91samdXX.cfg]


# did not yet manage to make a working setup using srst
#reset_config srst_only
# reset_config  srst_nogate

adapter speed 200

adapter srst delay 100
adapter srst pulse_width 100

bcm2835gpio swd_nums 25 24
bcm2835gpio trst_num 7
bcm2835gpio srst_num 18

init
targets
#reset halt
reset init

at91samd bootloader 0
program sam_ba_Generic_D11C14A_SAMD11C14A_2.bin verify
at91samd bootloader 4096
reset
shutdown

$ nano

Last update: February 19, 2022