Kinkware.tech/rp2040-serial-flash
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Protocol and tool for a serial bootloader
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README.md

serial-flash - Tool for interacting with Pico bootloaders

This is a command-line tool for uploading code to Raspberry Pi Picos, either running:

It's a go program, so can be installed like any other.

First install go: https://go.dev/doc/install

Then install serial-flash:

go install github.com/usedbytes/serial-flash@latest

Then (assuming your go binary install location is on your $PATH, see you can run serial-flash:

# picowota
serial-flash tcp:192.168.1.123 app.elf

# rp2040_serial_bootloader
serial-flash /dev/ttyUSB0 app.elf

You can also build it without installing:

git clone https://github.com/usedbytes/serial-flash
cd serial-flash
go get -v .
go build .
./serial-flash tcp:192.168.1.123 app.elf