Openocd setup/test

1. sudo apt-get update

2. sudo apt-get install autoconf libtool libusb-dev
3. git clone git://git.code.sf.net/p/openocd/code openocd-code
4. cd openocd-code
5. ./bootstrap
6. ./configure --enable-sysfsgpio --enable-bcm2835gpio
7. make
8. sudo make install
9. cd
10.mkdir bootloader
11.cd bootloader
12.nano openocd.cfg (copy Testing config)
13.sudo openocd (testing)

Programming
1. nano openocd.cfg (add Programming lines to config)
2. sudo openocd (programming)

Testing config___
adapter driver bcm2835gpio

# Raspi2 BCM2836 (900Mhz):

# bcm2835gpio_speed_coeffs 146203 36
# Raspi3 BCM2837 (1200Mhz):
bcm2835gpio_speed_coeffs 194938 48

# SWD GPIO set: swclk swdio

bcm2835gpio_swd_nums 25 24
# source [find interface/raspberrypi-native.cfg]
transport select swd

set CHIPNAME at91samd21g18

source [find target/at91samdXX.cfg]

reset_config srst_nogate

adapter srst delay 100

adapter srst pulse_width 100

init
targets
reset halt

Programming lines___
at91samd bootloader 0
program samd21.hex verify
at91samd bootloader 8192
reset
shutdown