Hello Kristof Geerts,
There are two methods for you.
1. Please prepare SD u-boot and setup SD u-boot to recover NOR flash, please copy SD u-boot to SD card with block offset 0x8.(This SD u-boot image has already included RCW)
You could build SD u-boot in Yocto, or download prebuilt image ISO for ARMv7 from Linux® SDK for QorIQ Processors|NXP .
You could program SD u-boot to SD card as the following.
dd if=u-boot-with-sd.bin of=/dev/sdb bs=512 seek=8
2. Please use CodeWarrior for ARMv7+CMSIS-DAP(it is multiplexed with the UART port), please configure SW2[8] = 0 to enable CMSIS-DAP on ls1021atwr.
When create a bare board CodeWarrior project, please select CMSIS-DAP as the connection type.
For the procedure of programming, your could refer to Flash Programmer for CodeWarrior Power Architecture .
Have a great day,
Yiping
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