diff --git a/docs/images/boardupdate.png b/docs/images/boardupdate.png
new file mode 100644
index 0000000..5c88402
Binary files /dev/null and b/docs/images/boardupdate.png differ
diff --git a/docs/images/stmsuccess.png b/docs/images/stmsuccess.png
new file mode 100644
index 0000000..5c7feb1
Binary files /dev/null and b/docs/images/stmsuccess.png differ
diff --git a/docs/images/stmupdate.png b/docs/images/stmupdate.png
new file mode 100644
index 0000000..6a82cfa
Binary files /dev/null and b/docs/images/stmupdate.png differ
diff --git a/docs/src/firmware/applicable.rst b/docs/src/firmware/applicable.rst
index 476cabe..29d91d4 100644
--- a/docs/src/firmware/applicable.rst
+++ b/docs/src/firmware/applicable.rst
@@ -4,7 +4,7 @@ Firmware and SDK compatibility
 ==============================
 
 ============================ ========================
-Firmwares                    SDK Version
+S1030 Firmwares                    SDK Version
 ============================ ========================
 MYNTEYE_S_2.0.0_rc.img       2.0.0-rc (2.0.0-rc ~ 2.0.0-rc2)
 MYNTEYE_S_2.0.0_rc2.img      2.0.0-rc2 (2.0.0-rc ~ 2.0.0-rc2)
@@ -15,10 +15,18 @@ MYNTEYE_S_2.0.0_alpha1.img   2.0.0-alpha1 (2.0.0-rc1 ~ 2.0.0-alpha1)
 MYNTEYE_S_2.0.0_alpha0.img   2.0.0-alpha0
 MYNTEYE_S_2.2.2.img          2.3.0 (2.2.2-rc1 ~ 2.3.0)
 MYNTEYE_S_2.3.0.img          2.3.0 (2.2.2-rc1 ~ 2.3.3)
+MYNTEYE_S_2.4.0.img          2.3.4
 ============================ ========================
 
+============================ ========================
+S2100 Firmwares                    SDK Version
+============================ ========================
+MYNTEYE_S2100_1.1.img            2.3.4
+============================ ========================
+
+
 .. attention::
-  This firmware doesn't support S2100/S210A, please do not upgrade when you use S2100/S210A.
+  Please CONFIRM your device model and use CORRECT firmware.
 
 ``Firmwares`` indicates the firmware file name. It's in `MYNTEYE_BOX <http://doc.myntai.com/mynteye/s/download>`_ in the ``Firmwares`` directory.
 
diff --git a/docs/src/firmware/contents.rst b/docs/src/firmware/contents.rst
index 23eb62e..264067a 100644
--- a/docs/src/firmware/contents.rst
+++ b/docs/src/firmware/contents.rst
@@ -7,4 +7,5 @@ MYNT® EYE Firmware
 
    applicable
    upgrade
+   stm_update
    from_v1.rst
diff --git a/docs/src/firmware/stm_update.rst b/docs/src/firmware/stm_update.rst
new file mode 100644
index 0000000..ef07426
--- /dev/null
+++ b/docs/src/firmware/stm_update.rst
@@ -0,0 +1,28 @@
+.. _firmware_stm_update:
+
+How to upgrade the auxiliary chip
+==================================
+
+Update auxiliary chip
+----------------------
+
+* Plug in the MYNT® EYE camera into a USB3.0 port
+
+* Open MYNT EYE TOOL and select ``Options/BoardUpdate`` .
+
+.. image:: ../../images/boardupdate.png
+
+* Click ``StmUpdate`` .
+
+.. image:: ../../images/stmupdate.png
+
+* In the open file selection box, select the firmware you want to upgrade and start upgrading.
+
+* Once the upgrade is complete, it will display update finished.
+
+.. image:: ../../images/stmsuccess.png
+
+
+
+
+
diff --git a/docs/src/firmware/upgrade.rst b/docs/src/firmware/upgrade.rst
index 09f3dac..7af7391 100644
--- a/docs/src/firmware/upgrade.rst
+++ b/docs/src/firmware/upgrade.rst
@@ -11,7 +11,8 @@ You can download the firmware and MYNT EYE TOOL installation package in the ``Fi
 
   Firmwares/
   ├─Checksum.txt                 # file checksum
-  ├─MYNTEYE_S_2.3.0.img      # firmware
+  ├─MYNTEYE_S_2.4.0.img          # S1030 firmware
+  ├─MYNTEYE_S2100_1.1.img        # S2100 firmware
   ├─...
   └─setup.zip                    # MYNTEYE TOOL zip
 
@@ -21,7 +22,7 @@ Download preparation
 ---------------------
 
 * Download and unzip ``setup.zip``
-* Download firmware, such as ``MYNTEYE_S_2.3.0_rc0.img``
+* Find firmware, such as ``MYNTEYE_S_2.4.0.img``
 
   * Please refer to :ref:`firmware_applicable` to select the firmware suitable for the SDK version
   * Please refer to ``Checksum.txt`` to find the firmware check code as follows: