# VOXL2 IO Board Flashing Firmware

Source: https://forum.modalai.com/topic/2975/voxl2-io-board-flashing-firmware
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2-io
Posted: 2023-12-20 21:24:55 UTC by Aaron Porter
Replies: 3 · Views: 1881

## Aaron Porter · 2023-12-20 21:24:55 UTC

I am trying to flash the firmware to the VOXL2 IO board but I am getting an issue using OpenOCD. It seems like the version has changed since the documentation was created. 

```
+ FIRMWARE_FILE=/.../Downloads/m0065_firmware.bin
+ sudo openocd -f /usr/share/openocd/scripts/interface/stlink-v2.cfg -f /usr/share/openocd/scripts/target/stm32f1x.cfg -c 'adapter speed 4000' -c init -c 'sleep 100' -c 'reset halt' -c 'sleep 500' -c 'flash write_image erase /.../Downloads/m0065_firmware.bin  0x08001C00' -c 'reset run' -c exit
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 1000 kHz
adapter_nsrst_delay: 100
none separate
invalid command name "adapter"
``` 
I am on a Linux computer and installed OpenOCD using just `apt-get install openocd`. I have the ST-Link connect like the diagram shows. And the ST-Link is connected to my computer via USB. 
So Honestly I am lost to as to what I am doing wrong?

Thanks in advance,
- Aaron

## Reply by Alex Kushleyev (ModalAI staff) · 2023-12-21 21:26:32 UTC

@Aaron-Porter , can you please provide a link to the instructions that you are following? Do you have an M0065 boards with Modalai bootloader already installed, or do you have the original M0065 which was using a bootloader from PX4 ?

Alex

## Reply by Aaron Porter · 2023-12-21 22:12:43 UTC (in reply to Alex Kushleyev)

@Alex-Kushleyev 

I am following this guide: https://docs.modalai.com/voxl2-io-firmware/
I am trying to install the firmware using STLink

as for the bootl oader it is a ModalAI bootloader already installed I assume based on the blue LED light flash, so it is not a legacy board

## Reply by Alex Kushleyev (ModalAI staff) · 2023-12-22 21:01:50 UTC (in reply to Aaron Porter)

@Aaron-Porter , thank you for clarifying. We resolved your issue offline, as this was a pre-release development effort.

Moving forward, all customers have two options:
* if you already purchased M0065 without ModalAI bootloader (the board was using old px4io bootloader and firmware), you can request a free replacement that will be sent with our latest bootloader and firmware installed (please request via support email)
* all the new M0065 shipments will come with ModalAI bootloader and firmware

With the new bootloader / firmware combination, there is no need for STLink at all. The firmware will be updated via UART directly from VOXL2 or optionally via a USB adapter. The firmware update protocol is very similar to our ESC firmware update protocol, so we will be able to use `voxl-esc` tools to perform the firmware update. 

We will be updating the docs shortly (https://docs.modalai.com/voxl2-io-firmware/) and will post an update here once it's ready.

Alex