> 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 --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## 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, and the optional `goal` query parameter: ``` GET https://nxp.gitbook.io/mr-canhubk344/getting-started/programming-with-opensource-tools/programming-with-zephyr-west.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. 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.