# Flashing custom firmware to artoo
This guide shows you how to flash a custom firmware onto artoo. Super useful if you've bricked it (see note at end) or have made a custom build. If you haven't already, you should see [building artoo's firmware](https://github.com/OpenSolo/documentation/new/master/artoo/build-artoo-firmware.md).

> Note: this was tested on an artoo flashed with OpenSolo and on an artoo just after a factory reset.  Both appeared to work but ymmv. (your mileage may vary)

## Let's Start
First you need to connect to the `SoloLink_xxx` WiFi. Once you're connected you can start running the commands below.

Navigate to the artoo directory:
```
cd <open solo directory>/artoo
```
Make sure the firmware file has something in it:
```
du -h artoo.bin
```
Should output something like this:
> 236K	artoo.bin

The next two steps will require you to enter this password when prompted:
```
TjSDBkAu
```
Copy the firmware over:
```
scp artoo.bin root@10.1.1.1:/home/root/
```
SSH into artoo:
```
ssh root@10.1.1.1
```
Run the flash tool:
```
updateArtoo.sh
```
Your screen should immediately turn off.  You'll see lots of lines scrolling up the screen like below.  DO NOT interrupt this process.  Wait for it to finish, it will take a minute or two. You'll know when it's done because artoo's screen should turn back on.
```
root@3dr_controller:~# updateArtoo.sh 
Bootloader version 22
Chip id: 0x414 (STM32 High-density)
Write 256 bytes at 0x8000000
Write 256 bytes at 0x8000100
Write 256 bytes at 0x8000200
```
Artoo should reboot.  Well the WiFi stays connected and it's quicker then usual so I doubt it's actually doing a full reboot. If you're running open solo you should now see the new boot up logo and text strings. Do a full reboot for good measure:
```
/sbin/shutdown -r now
```

If you've customised it you'll be greeted with the custom image.  Here's mine ;)

![nyan cat solo start screen](https://github.com/OpenSolo/documentation/raw/master/artoo/nyan-solo.jpg)

## Bricked artoo?
If you've soft bricked artoo it's normally pretty easy to fix. This generally happens when a bad `artoo.bin` is genereated by solo-builder then flashed. This method only works if that is what has happened. Also note a factory reset _does not fix this_ as it just reflashes the dodgy `.bin` file again.

#### Check your artoo.bin file size (optional)
If you want to make sure this is the reason artoo got bricked you can check the artoo.bin file generated by solo-builder.  Decompress the complete artoo tarball. (normally called `3dr-controller.tar.gz`) Inside is a `3dr-controller-imx6solo-3dr-artoo.squashfs` file.  Open that file with the ubuntu archive manager and look inside the `/firmware` directory.  You should see a file that looks like `artoo_x.x.x.bin`.  If it's size is *0 bytes* you have a dodgy build.

#### Download "good" copy of artoo.bin
> This file is provided for use at your own risk.

This link is a copy of the "good" artoo.bin file I built from the artoo source. This may or may not work on your controller but it is worth a try if your builds keep failing to produce a good `artoo.bin`. (and yes it has my nyan cat startup screen ;) )
Download "good" [artoo.bin](https://github.com/OpenSolo/documentation/raw/master/artoo/artoo.bin)