Raspberry-PI-Maker-Toolkit/Install Open OCD at main · mikepdiy/Raspberry-PI-Maker-Toolkit · GitHub

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After you connect to your PI run :
sudo apt-get update
Then<
sudo apt-get install git autoconf libtool make pkg-config libusb-1.0-0 libusb-1.0-0-dev
Then
git clone http://openocd.zylin.com/openocd<
Then
cd openocd
./bootstrap
The config below should work for all RPI but my setup is based around the Pi0W so I am not exploring the changes that can be made for PI3 or PI4
./configure --enable-sysfsgpio --enable-bcm2835gpio
This will take about 1h-1h30min
make
sudo make install
Now OpenOCD is installed !
You can see the list of interfaces available in /usr/local/share/openocd/scripts/interface<
We have to create a configuration file !
cd ~
mkdir bootloader
cd bootloader
HERE PUT THE BOOTLOADER IN *.bin format in the folder

In the same directory, make a new file called openocd.cfg
nano openocd.cfg
Paste in the following by changing the needed details ( uncomment or comment plus file path)
adapter driver bcm2835gpio

# Raspi1 peripheral_base address
 bcm2835gpio_peripheral_base 0x20000000
# Raspi2 and Raspi3 peripheral_base address
#bcm2835gpio_peripheral_base 0x3F000000

# Raspi1 BCM2835: (700Mhz)
 bcm2835gpio_speed_coeffs 113714 28
# Raspi2 BCM2836 (900Mhz):
# bcm2835gpio_speed_coeffs 146203 36
# Raspi3 BCM2837 (1200Mhz):
#bcm2835gpio_speed_coeffs 194938 48

source [find interface/raspberrypi-native.cfg]

bcm2835gpio_swd_nums 25 24
#bcm2835gpio_trst_num 7
#bcm2835gpio_srst_num 18

transport select swd

set CHIPNAME at91samd21g18
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 srst delay 100
adapter srst pulse_width 100

init
targets
reset halt
at91samd bootloader 0
program bootloader_ib.bin verify
at91samd bootloader 8192
reset
shutdown
exit

Now press CTROL+O then Enter and CTRL+X ( Overwrite/save & exit)

Then run sudo openocd (no other args, its all in the config!) in the directory.

Please check the Adafruit guide for a visual feedback reproduction here : https://learn.adafruit.com/programming-microcontrollers-using-openocd-on-raspberry-pi/wiring-and-test