# Programming with Zephyr West The MR-CANHUBK344 may be programmed through the Zephyr West build tool.\ This is particularly relevant when it is used in a robotic system that is [running Cognipilot such as MR-B3RB](https://nxp.gitbook.io/mr-b3rb/software/mr-b3rb-software-developer-guide). ## Zephyr West : JLINK Use this command when programming using the jlink from Zephyr west tool ``` west flash --runner jlink ``` *** ## Zephyr West : MCU-Link-MR (using pyOCD) 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. {% hint style="success" %} PyOCD 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 {% endhint %} ``` west flash --runner pyocd ``` *** ## Building, Flashing and Debugging — Zephyr Project Documentation More detailed official documentation for this is available here.\ See for default runner to use can be set --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://nxp.gitbook.io/mr-canhubk344/getting-started/programming-with-opensource-tools/programming-with-zephyr-west.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.