> For the complete documentation index, see [llms.txt](https://nxp.gitbook.io/mr-canhubk344/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://nxp.gitbook.io/mr-canhubk344/getting-started/programming-with-opensource-tools/programming-with-zephyr-west.md).

# 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

&#x20;<https://docs.zephyrproject.org/latest/develop/west/build-flash-debug.html#choosing-a-runner>

&#x20;