How do I update firmware for mid 2011 iMac running Yosemite?

I tried the link in the Apple support pages, but it told me I need Lion to install it. I bought the computer used. It came with Mavericks and I updated to Yosemite. I don't have Lion or any way (or desire to) install it.

There is no update for the mid-2011 iMac firmware that will fix the fans running at high speed.
Only the OEM (original equipment manufacturer) Apple hard drives had the proprietary firmware designed to properly monitor the hard drive temperature.
So you have several possible solutions:
1. If the computer was sold to you with a warranty, rather than "AS IS", my first choice would be to force the seller to restore the computer to the condition it was represented to be in when you purchased it, with an OEM Apple 500GB drive that does not cause the fan problem. If they cannot or will not correct the problem, make them take it back and refund your money. Consumer advocates such as the Better Business Bureau can help you prepare a formal complaint against the seller, and perhaps lead to a successful resolution through arbitration, without hiring an attorney and filing a lawsuit.
2. If you bought the computer "AS IS", you'll have to attempt to repair the problem yourself:
A) Locate an exact replacement for the original OEM Apple hard drive with the proper firmware and install it on your own;
B) Purchase a 'compatibility kit'. OtherWorldComputing www.macsales.com reverse-engineered a solution to the problem and sells a short cable with an external temperature sensor for the hard drive that can be used successfully with non-OEM drives. http://eshop.macsales.com/item/OWC/DIDIMACHDD11/
They also sell the sensor cable with a toolkit that can be used to disassemble and install the cable. http://eshop.macsales.com/item/OWC/DIYIMACHDD11/
C) Try the fan control program mentioned in earlier replies.

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