Update nitrogen-96-board.rst

documentation/source/quick-start/nitrogen-96-board.rst

 Nitrogen 96 Board
 #################
 
-Nitrogen is a 96Boards compliant IoT Edition board which aims to provide economic and compact BLE solutions for a variety of IoT projects. This board features the nRF52832 microcontroller by Nordic, 64kb of RAM and 512kb of onboard flash storage. An easily accessible 40 pin low-speed expansion connector and onboard antenna offer a wide variety of IO on the much desired 96Boards IoT form factor. The 96Boards Nitrogen hardware provides support for the Nordic Semiconductor nRF52832 ARM Cortex-M4F CPU.
+Nitrogen is a 96Boards compliant IoT Edition board which aims to provide economic and compact BLE solutions for a variety of IoT projects. This board features the nRF52832 microcontroller by Nordic, 64kb of RAM and 512kb of onboard flash storage. An easily accessible 40 pin low-speed expansion connector and onboard antenna offer a wide variety of IO on the much desired 96Boards IoT form factor. The 96Boards Nitrogen hardware provides support for the Nordic Semiconductor nRF52832 ARM Cortex-M4F CPU. 
 
 .. figure:: images/nitrogen_board.jpg
 
@@ -64,4 +64,100 @@ Addition information
 |             |                                            |
 +-------------+--------------------------------------------+
 
-For complete details on building and flashing applications to the Nitrogen, refer https://www.96boards.org/documentation/iot/nitrogen/.
+For more details on Nitrogen 96 board, refer https://www.96boards.org/documentation/iot/nitrogen/.
+
+Flashing Zephyr onto 96Boards Nitrogen
+**************************************
+
+The 96Boards Nitrogen board can be flashed via the `CMSIS DAP interface <https://os.mbed.com/handbook/CMSIS-DAP>`_, which is provided by the micro USB interface to the LPC11U35 chip.
+
+Using the CMSIS-DAP interface, the board can be flashed via the USB storage interface (drag-and-drop) and also via `pyOCD <https://github.com/pyocd/pyOCD>`_.
+
+Installing pyOCD
+================
+
+The latest stable version of pyOCD can be installed via pip as follows:
+
+.. code-block:: console
+
+   pip install --pre -U pyocd
+
+To install the latest development version (master branch), do the following:
+
+.. code-block:: console
+
+   pip install --pre -U git+https://github.com/mbedmicro/pyOCD.git#egg=pyOCD
+
+You can then verify that your board is detected by pyOCD by running:
+
+.. code-block:: console
+
+   pyocd-flashtool -l
+
+Common Errors
+*************
+
+No connected boards
+===================
+
+If you don’t use sudo when invoking pyocd-flashtool, you might get any of the following errors:
+
+.. code-block:: console
+
+   No available boards are connected
+   No connected boards
+   Error: There is no board connected.
+
+
+To fix the permission issue, simply add the following udev rule for the NXP LPC1768 interface:
+
+.. code-block:: console
+
+   echo 'ATTR{idProduct}=="0204", ATTR{idVendor}=="0d28", MODE="0666", GROUP="plugdev"' > /etc/udev/rules.d/50-cmsis-dap.rules
+
+Finally, unplug and plug the board again.
+
+ValueError: The device has no langid
+====================================
+
+As described by `pyOCD issue 259 <https://github.com/pyocd/pyOCD/issues/259>`_, you might get the **ValueError: The device has no langid** error when not running pyOCD as root (e.g. sudo).
+
+To fix the above error, add the udev rule shown in the previous section and install a more recent version of pyOCD.
+
+Flashing an Application to 96Boards Nitrogen
+********************************************
+
+Here is an example for the `Hello World application <https://docs.zephyrproject.org/latest/samples/hello_world/README.html#hello-world>`_.          
+This requires installing the `pyOCD Debug Host Tools <https://docs.zephyrproject.org/latest/guides/flash_debug/host-tools.html#pyocd-debug-host-tools>`_.
+
+.. code-block:: console
+
+   From the root of the zephyr repository
+   west build -b 96b_nitrogen samples/hello_world
+   west flash
+
+Run your favorite terminal program to listen for output.
+
+.. code-block:: console
+
+   minicom -D <tty_device> -b 115200
+
+Replace **<tty_device>** with the port where the board 96Boards Nitrogen can be found. For example, under Linux, **/dev/ttyACM0**. The **-b** option sets baud rate ignoring the value from config.
+
+Press the Reset button and you should see the the following message in your terminal:
+
+.. code-block:: console
+
+   Hello World! arm
+
+Debugging with GDB
+******************
+
+You can debug an application in the usual way. Here is an example for the Hello World application. This also requires pyOCD.
+
+.. code-block:: console
+   From the root of the zephyr repository
+   west build -b 96b_nitrogen samples/hello_world
+   west debug
+
+