# Voxl 2 IO and PWM outputs Source: https://forum.modalai.com/topic/2832/voxl-2-io-and-pwm-outputs Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini) Tags: voxl2, voxl-2 Posted: 2023-11-08 10:01:04 UTC by Jetson Nano Replies: 8 · Views: 2503 ## Jetson Nano · 2023-11-08 10:01:04 UTC I am currently working with vertiq motors which come with a built-in ESCs. These motors support PWM and i got the voxl 2 IO board for the same. However, SDK 1.1. How do i give the PWM output through the Voxl 2 IO board? The latest SDK says that the board is supported only for input. Does SDK 1.1 work with I/O board or is there a way to make it compatible to support PWM outputs with the latest firmware ## Reply by tom (ModalAI staff) · 2023-11-15 18:00:37 UTC @AP123 That is correct, SDK 1.1.1 will provide support through M0065 ## Reply by tom (ModalAI staff) · 2023-12-01 22:09:21 UTC @AP123 Here is some more info: https://docs.modalai.com/voxl2-io/ `If you would like to update the bootloader and firmware on your VOXL 2 IO, you can send in your existing hardware to be updated without charge by contacting contact@modalai.com.` ## Reply by tom (ModalAI staff) · 2023-12-04 18:02:23 UTC @AP123 You can find `voxl2_io_firmware_m0065_v1_35_58c82813.bin` at downloads.modalai.com under the "Miscellaneous" section ## Reply by Jacob Camarillo (ModalAI staff) · 2023-12-04 19:18:44 UTC Hi @AP123, a couple things to check: * Do you have the new bootloader? The legacy bootloader (SDKs before 1.1.1) and the new firmware are not compatible, you won't be able to update the firmware on your Voxl2 IO using the legacy bootloader (it doesn't support flashing via UART). The new bootloader will enable firmware updates for Voxl2 IO board via Voxl2 (removing the need for STLink). We aren't currently distributing the new bootloader so you will need to send your Voxl2 IO back to us and we can send you replacement(s) with the new bootloader and firmware already loaded. You can email contact@modalai.com to get this process started. * The firmware flashing script expects the Voxl2 IO to be connected to J18 on your voxl2. If it is connected to J19 and you wish to keep it there, then you will need to update the flashing script to use J19 (change ```--device /dev/slpi-uart-2``` to ```--device /dev/spli-uart-7```) * Once you have your Voxl2 IO updated, make sure to load the ```voxl2_io_enable_pwm.params``` in the ```voxl2_io_helpers``` menu from the voxl-configure-px4-params wizard if you plan to use the Voxl2 IO for PWM outputs. * Finally, if you have issues with your ESCs all not spinning the same rate its a good idea to run the calibration process if you are using ESCs that came from ModalAI (not the 4-in-1 ESCs though). The process is shown in our [tech docs](https://docs.modalai.com/voxl2-io-user-guide/#how-to-perform-esc-calibration). Jacob ## Reply by modaltb (ModalAI staff) · 2023-12-04 19:30:18 UTC @AP123 because we can't provide the bootloader binary as a download, any existing M0065 HW needs to be replaced. You can use contact@modalai.com to arrange a replacement. It's technically possible to update in the field but we can't provide the bootloader binary so it needs to be sent into the modalai office. ## Reply by Aaky · 2024-02-15 12:15:24 UTC (in reply to modaltb) @modaltb @Jacob-Camarillo Is the status of not providing bootloader binary the same now or you guys are distributing the binary? I am having old legacy firmware over my VOXL2 IO board and I need an update over this board with new SDK very quickly. Just wanted to save turn around time of sending the board back to you since I need upgrade asap. Please let me know asap. ## Reply by Moderator (ModalAI staff) · 2024-02-15 16:27:06 UTC (in reply to Aaky) @Aaky we are not asking for your old board to be sent back until you receive the new board ## Reply by Aaky · 2024-02-16 04:08:46 UTC (in reply to Moderator) @Moderator Got it. I have mailed already to contact@modalai.com . Please expedite my request and let me know.