diff --git a/scripts/stm32/openocd/flash.sh b/scripts/stm32/openocd/flash.sh
new file mode 100755
index 00000000..a5843af4
--- /dev/null
+++ b/scripts/stm32/openocd/flash.sh
@@ -0,0 +1,94 @@
+#!/bin/bash
+
+target="None"
+offset=0x08000000
+filename=$1
+interface=$2
+echo "Filename arg: $filename"
+prnt_path=$(dirname $(dirname "$BASH_SOURCE"))
+
+# check f interface was passed
+if [ -z "$interface" ]; then
+    if [ -f "/proc/device-tree/model" ]; then
+        model=$(cat /proc/device-tree/model)
+        echo "$model"
+        if [[ $model == *"Raspberry Pi 5"* ]]; then
+            interface="raspberrypi5-gpiod"
+        elif [[ $model == *"Raspberry Pi 4"* ]]; then
+            interface="raspberrypi4-native"
+        elif [[ $model == *"Raspberry Pi 2"* ]]; then
+            interface="raspberrypi2-native"
+        else
+            echo "raspberrypi-native"
+        fi
+    else
+        interface="stlink"               
+    fi
+    echo "Using $interface"     
+fi
+# check if interface is stlink, then flash via st-flash
+if [ "$interface" == "stlink" ]; then
+    ./${prnt_path}/flash.sh $filename
+    exit
+fi
+
+check_chip(){
+    # Run OpenOCD and capture the output
+    output=$(openocd -c "source [find interface/${interface}.cfg]
+                        swd newdap chip cpu -enable
+                        dap create chip.dap -chain-position chip.cpu
+                        target create chip.cpu cortex_m -dap chip.dap
+
+                        init
+                        dap info
+                        shutdown
+                        ")
+
+    # Extract the processor name using grep and awk
+    processor_name=$(echo "$output" | awk '/chip.cpu/ {print}' | awk 'NR == 1 {print $4}')
+    echo "output: $output"
+    # Print the processor name
+    echo "Detected Processor: $processor_name"
+
+    # Optionally, detect STM32 family based on the processor name
+    case "$processor_name" in
+        "Cortex-M0+")
+            echo "Detected STM32 Family: STM32G0"
+            target="stm32g0x"
+            ;;
+        "Cortex-M3")
+            echo "Detected STM32 Family: STM32F103"
+            target="stm32f1x"
+            ;;
+        *)
+            echo "Unknown Processor or Family"
+            exit 1
+            ;;
+    esac
+
+}
+
+check_chip
+echo "$target"
+flash_size_str=""
+if [ "$target" == "stm32f1x" ]; then
+    flash_size_str="set FLASH_SIZE 0x00020000"
+fi
+
+echo $(openocd -c "
+source [find interface/${interface}.cfg]
+set CHIPNAME ${target}
+source [find target/${target}.cfg]
+
+reset_config  srst_nogate
+init
+targets
+reset halt
+
+${flash_size_str}
+${target} mass_erase 0
+flash write_image erase $filename $offset
+flash verify_image $filename $offset
+reset run
+exit
+")
diff --git a/src/raccoonlab_tools/common/firmware_manager.py b/src/raccoonlab_tools/common/firmware_manager.py
index dbfbc830..2e227db6 100755
--- a/src/raccoonlab_tools/common/firmware_manager.py
+++ b/src/raccoonlab_tools/common/firmware_manager.py
@@ -24,7 +24,10 @@ def upload_firmware(binary_path):
         if system == "Windows":
             ProgrammerWindows.upload_firmware(binary_path)
         elif system == "Linux":
-            StlinkLinux.upload_firmware(binary_path)
+            if (os.path.exists("/proc/device-tree/model")):
+                OpenocdLinux.upload_firmware(binary_path)
+            else:
+                StlinkLinux.upload_firmware(binary_path)
         elif system == "Darwin":
             print("MacOS is not supported yet.")
         else:
@@ -141,6 +144,60 @@ def execute(cmd):
     for path in execute(cmd):
         print(path, end="")
 
+class OpenocdLinux:
+    @staticmethod
+    def upload_firmware(binary_path : str):
+        interface = "stlink"
+        if (os.path.exists("/proc/device-tree/model")):
+            rpi_model = os.popen('cat /proc/device-tree/model').read()
+            print(rpi_model)
+            if "Raspberry Pi 5" in rpi_model:
+                interface = "raspberrypi5-gpiod"
+            if "Raspberry Pi 4" in rpi_model:
+                interface = "raspberrypi4-native"
+            elif "Raspberry Pi 2" in rpi_model:
+                interface="raspberrypi2-native"
+            elif "Raspberry Pi 3" in rpi_model:
+                print("Raspberry Pi 3 is not supported yet")
+                return
+            else:
+                print("Unknown RaspberryPi model")
+                interface = "raspberrypi-native"
+        print(f"Using {interface} interface")
+
+        target = OpenocdLinux.get_target(interface)
+        cmd = ["openocd", "-c", f'source [find interface/{interface}.cfg];\
+                                    set CHIPNAME {target};\
+                                    source [find target/{target}.cfg];\
+                                    program {binary_path} verify reset exit;']
+        process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+        process.wait()
+        _, stdout = process.communicate()
+        print(stdout.decode())
+
+    @staticmethod
+    def get_target(interface : str):
+        cmd = ["openocd", "-c", f"source [find interface/{interface}.cfg];\
+                        swd newdap chip cpu -enable; dap create chip.dap -chain-position chip.cpu;\
+                        target create chip.cpu cortex_m -dap chip.dap;\
+                        init;\
+                        dap info;\
+                        exit;\
+                        shutdown"]
+        process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+        process.wait()
+        _, stdout = process.communicate()
+
+        lines = stdout.decode()
+        if "Cortex-M3" in lines:
+            print("Detected: stm32f1x")
+            return "stm32f1x"
+        elif "Cortex-M0+" in lines:
+            print("Detected: stm32g0x")
+            return "stm32g0x"
+        else:
+            print("Unknown target")
+            raise RuntimeError("Unknown target")
 
 # Just for test purposes
 if __name__ == '__main__':
diff --git a/src/raccoonlab_tools/scripts/common/upload_firmware.py b/src/raccoonlab_tools/scripts/common/upload_firmware.py
index 9a6028c4..352823b0 100755
--- a/src/raccoonlab_tools/scripts/common/upload_firmware.py
+++ b/src/raccoonlab_tools/scripts/common/upload_firmware.py
@@ -7,6 +7,7 @@
 import yaml
 from raccoonlab_tools.common.firmware_manager import FirmwareManager
 from raccoonlab_tools.common.device_manager import DeviceManager
+import os
 
 def main():
     parser = argparse.ArgumentParser()
@@ -22,8 +23,11 @@ def main():
     elif args.binary:
         binary_path = args.binary
 
-    # Just to check that the programmer is avaliable
-    DeviceManager.get_programmer()
+    if (os.path.exists("/proc/device-tree/model")):
+        print("I'm rpi")
+    else:
+        # Just to check that the programmer is avaliable
+        DeviceManager.get_programmer()
 
     FirmwareManager.upload_firmware(binary_path)