Flash Bootloader
This page details flashing the bootloader firmware using am32-configurator or SWD.
Flashing Bootloader via AM32
You can update the bootloader using the AM32 Configurator. Once connected select "Flash firmware" and select the "Bootloader" tab. Download the AM32-bootloader-updaters-amj.zip from the AM32-bootloader release artifacts. Select the AM32_F051_BL_UPDATER_PB4_V15.amj.
Flashing Bootloader via SWD
If you're flashing an ESC without firmware or the firmware has become corrupted, you can reflash the ESC with SWD to bring it back to a fresh state.
For detailed instructions on ST-LINK setup, software installation, and usage, see the ST-LINK Flashing Guide.
What You'll Need
ARK 4IN1 ESC
ST-LINK V3 Mini (recommended) or ST-LINK V2
Computer running Windows or Ubuntu
Hardware Setup
The ARK 4IN1 ESC has 4 separate STM32F051 microcontrollers (one per motor channel), each with their own SWD interface on a single 10-pin debug connector. See the pinout for the full connector diagram.
1
3.3V
2
SWDIO 1 (ESC 1)
3
SWCLK 1 (ESC 1)
4
SWDIO 2 (ESC 2)
5
SWCLK 2 (ESC 2)
6
SWDIO 3 (ESC 3)
7
SWCLK 3 (ESC 3)
8
SWDIO 4 (ESC 4)
9
SWCLK 4 (ESC 4)
10
GND
To flash each ESC, connect your ST-LINK to the corresponding SWDIO/SWCLK pair. For example, to flash ESC 1:
SWDIO
Pin 2
SWDIO 1
SWCLK
Pin 3
SWCLK 1
GND
Pin 10
GND
3.3V (optional)
Pin 1
3.3V
If your ESC is powered from a battery or power supply, do not connect the 3.3V line from the ST-LINK.
Repeat the process for ESC 2-4 using their respective SWDIO/SWCLK pins (4/5, 6/7, 8/9).
Flash the Bootloader
Flash each ESC MCU with the bootloader binary:
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