he Oracle Grid Infrastructure/Clusterware (CRS) version must be of the highest version down to the 4th digit in the possible combinations at all times.
This means, you have to upgrade Oracle Grid Infrastructure/Clusterware first.
check this also.
Oracle Clusterware - ASM - Database Version Compatibility (Doc ID 337737.1)
Yes, but need to apply below patch before proceeding with GI upgrade
Patch 9413827: 11201 TO 11202 ASM ROLLING UPGRADE - OLD CRS STACK FAILS TO STOP
Please find step by step process from a blog.