# 15.1.3.3. 將 TB3 ROS 2 韌體上傳到 OpenCR

**\[TB3 SBC 端]**

```
$ export OPENCR_PORT=/dev/ttyACM0   #OpenCR port
$ export OPENCR_MODEL=burger        #tb3 model you are using
$ cd ~/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
```

如果上傳韌體成功，則會在終端視窗中顯示一些消息，如下所示。

```
aarch64
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main
[  ] file name   	: burger.opencr
[  ] file size   	: 168 KB
[  ] fw_name     	: burger
[  ] fw_ver      	: V180903R1
[OK] Open port   	: /dev/ttyACM0
[  ]
[  ] Board Name  	: OpenCR R1.0
[  ] Board Ver   	: 0x17020800
[  ] Board Rev   	: 0x00000000
[OK] flash_erase 	: 0.96s
[OK] flash_write 	: 1.92s
[OK] CRC Check   	: 10E28C8 10E28C8 , 0.006000 sec
[OK] Download
[OK] jump_to_fw
```

使用 RESET 按鍵來重置 OpenCR

<div align="left"><img src="https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-Ll_wSRXj8jypZPOxvaJ%2F-LlaWydTSf0DMvatJsKU%2Fbootloader_19.png?alt=media&#x26;token=6098dfa4-632f-4b7f-9f7f-0a2af5788c9a" alt=""></div>

幾秒鐘後，特定聲音會播放。
