# Connect MCU-Link-MR

{% hint style="success" %}
Either the J-LINK or MCU-Link may be used to program the MR-CANHUBK344 
{% endhint %}

DRAFT-DRAFT-DRAFT\
Connect the MR-Link-MR to the 7 position JST-GH programing connector to the MR-CANHUBK344. Please, connect it as shown in the following image:\
\
\<todo> update image to show MR-Link-MR\
\<todo> alternatively connect the 10 pin JTAG/SWD ribbon cable connector\
\<todo update photos below

<figure><img src="/files/HVrTefrGc0u2N3p8Oepl" alt="" width="375"><figcaption></figcaption></figure>

<figure><img src="/files/wnYzHTZ1nPUZzg9Xqr2s" alt="" width="375"><figcaption></figcaption></figure>

Connect the USB cable to your development computer and also remember to connect power to the Buggy (the LiPo battery to the PDB) in order to flash the MR-CANHUBK344.\
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## Zephyr West: MCU-Link-MR (using pyOCD)&#x20;

Use this command when programming using the **MCU-Link** or **MCU-Link-MR** from Zephyr west tool

The **MCU-LINK-MR** is an updated version of the MCU-link which includes debug interfaces for robotics including DCD, DCD-LZ, Pixhawk debug large and small, and USB-C to UART console.\
\
PyOCD method has to be used when using a[ MCU-Link](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) or MCU-Link-MR

`west flash --runner pyocd`

***

### Building, Flashing and Debugging — Zephyr Project Documentation <a href="#building-flashing-and-debugging-zephyr-project-documentation" id="building-flashing-and-debugging-zephyr-project-documentation"></a>

More detailed official documentation for this is available here. See for default runner to use can be set<https://docs.zephyrproject.org/latest/develop/west/build-flash-debug.html#choosing-a-runner>​​\
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\
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Then, you can return here to follow the instructions: [CogniPilot: Prepare MR-CANHUBK344 for programming](/mr-b3rb/software/mr-b3rb-software-developer-guide/cognipilot-prepare-mr-canhubk344-for-programming.md#prepare-mr-canhubk344-real-time-vehicle-controller)


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