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Compared to VESC the BitWizard ESC has a neat feature: no hardware (debugger/programmer) required to perform a firmware upgrade.

To flash new firmware, connect the VESC to the USB port of your computer. Then press-and-hold the button marked "BOOT". Next press-and-release the button next to it, named "RST".

Now your ESC is in firmware-download mode.

To flash the latest firmware use:

 dfu-util -a 0 -D BLDC.dfu

Get/read about dfu-util at:

If you're a windows user use the software at:

If you are compiling your own firmware: To generate the BLDC.dfu file, use: -b 0x8000000:build/BLDC_4_ChibiOS.bin BLDC.dfu

in your firmware source directory.