# Update the firmware
Here are the instructions on how to upload the latest firmware to the RaccoonLab nodes.
# Step 1. Download the latest firmware
We keep links to the binaries in the Software Versions
section for each board.
A binary have the following name pattert: <protocol>_<node_name>_<software_version>_<git_hash>.bin
. An example of binary name is: dronecan_micro_v0.10.17_3960cc2.bin
.
Here is the list of links to the binaries with DroneCAN software for some of the devices:
Download the latest available versions.
The similar instruction is for Cyphal firmwares.
# Step 2. Connect the programmer to the device
You have 2 options here. You can either use a RaccoonLab Programmer-Sniffer (opens new window) or another one.
# 2.1. Using RaccoonLab Programmer-Sniffer
An example of a connection is shown below.
Fig. Example of SWD connection with can-mini node.
SWD-NEEDLE connector (opens new window) is designed for easy acces to TARGET device SWD.

# 2.2. Using Dronecode Probe
Another way to upload firmware is to use the Dronecode Probe (opens new window).
First you will need next stuff:
Name | Pics |
---|---|
1. SWD Needle connector | ![]() |
2. DEBUG-WIRE | ![]() |
3. Dronecode Probe | ![]() |
Connect all relative to the diagram below
# 2.3 Using ST-LINK
Third way to upload firmware is to use ST-LINK/V2 in-circuit debugger/programmer for STM8 and STM32 (opens new window)
You will need:
- ST-LINK debugger/programmer
- Female wires
- Adapter
- DEBUG-WIRE
- SWD Needle connector
Here is the connection example
Most common issues
WARNING
Please, read this section carefully to avoid most common issues!
- SWD and CAN sockets look similar and they use the same 4-pin cable. SWD has 3.3V, but CAN has 5V. Don't mix them up.
- Be sure that your SWD pins are connected correctly (3.3 to 3.3, GND to GND)
- On the sniffer
VUSB
led should be orange,3.3
led should be red,ST-link
led should be blue, andblink
led should blink with yellow. If they are not, probably you are making something wrong. It also may indicate that the board works incorrectly. - If your node already has a correct firmware, after such connection it should blink. If it is not, probably the firmware is wrong or the connection is mistaken.
# Step 3. Upload the firmwares to the devices
# 3.1 Windows
Install
ST-LINK utility
from the official site (opens new window)Open
ST-LINK utility
, connect the programmer to the PC via USBConnect target device to the programmer via SWD connectors as shown on the picture above with respect to the warnings. If you gen an error, check the Windows issues section.
Choose option
Target -> Connect
. Device should be successfully connected. If you get an error, check the issues below.

- You should see
Device ID
if everything fine (as shown in picture below)

- Choose
file -> open file ...
and navigate to the downloaded firmware .bin as shown in the pictures below


- Choose
Target -> Program & Verify ... CTRL+P

- Wait until downloading is in progress

- You should see
Verification...OK
if everything is ok.

At that point, the firmware is succesfully downloaded. You can verify the software version by using gui_tool
.
Windows issues
DETAILS
Wrong connection may leds to one of 2 following errors:
- Can not connect to target

Programmer is successfully detected, but your device is not detected via SWD by the programmer. Either SWD connection is not ok, or there is a problem on the target side.
Sometimes it may happen that the 3.3 and GND is connected, but SWDIO and SWCLK are not ok enough. In this case the node blinks because it has a power, but connection is not stable enough to start a programming. Just make more tension by pushing jumpers a little bit and then press
Program & Verify
one more time.
- No ST-LINK detected

Either your programmer is not connected to your PC, or it is broken. Check the leds on the programmer device.
# 3.2 Linux
- Install
st-link
using the instruction from the official GitHub repository (opens new window) - Program your device with desired .bin file.
To program the boards with stm32f103 (they all have version v2), you should explicitly specify the flash size (128 KBytes):
st-flash --flash=0x00020000 --reset write desired_bin_file.bin 0x8000000
For boards with stm32g0 (they all have version v3), you should type:
st-flash --reset write desired_bin_file.bin 0x8000000
where desired_bin_file.bin
is the name of the binary file.
# Step 4. Test the device
You need to connect CAN-Sniffer to your node via CAN connector and to your PC via USB. It can be either RaccoonLab Programmer-Sniffer (opens new window) or Zubax Babel (opens new window).
RaccoonLab Programmer-Sniffer have 2 different CAN sockets. You can use any of them.
# 4.1 Connect device
An example of connection to RaccoonLab Programmer-Sniffer (opens new window) is shown below, or to Zubax Babel (opens new window).
WARNING
Be careful, SWD and CAN sockets look similar. Don't use SWD instead of CAN socket!
# 4.2. Cyphal usage
After connection, you can use yakut (opens new window) or Yukon (opens new window) utility or something other.
On the picture below there is an example of Yukon usage.
# 4.3. DroneCAN usage
Alternatively, you can use gui_tool (opens new window) for DroneCAN applications.
In the Application Setup menu you need to set 1000000
to both can bus and adapter baud rates.
After that you will get following window: