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The Espressif awesome esptool performs just about anything you may want to do relating to ESP32 programming over UART. It can write to flash, write to memory, erase flash and a world of other features. The specification of the protocol can be found in the `esptool` github project Wiki.
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This section of this repository hosts libraries for working with this protocol. There is an implementation in Node.js and more to come including C and C++.
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