You can use the prebuilt `compiler <https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/tools/idf-tools.html#xtensa-esp32-elf>`__ for Xtensa architecture and `OpenOCD <https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/tools/idf-tools.html#openocd-esp32>`__ for ESP32 by Espressif. For flashing firmware, you will need to install ``esptool.py`` by running::
pip install esptool
Flashing
========
Firmware for ESP32 is flashed via the USB/UART interface using the ``esptool.py`` tool. To flash your NuttX firmware simply run::
make download ESPTOOL_PORT=<port>
where ``<port>`` is typically ``/dev/ttyUSB0`` or similar. You can change the baudrate by passing ``ESPTOOL_BAUD``.
Bootloader and partitions
-------------------------
ESP32 requires a bootloader to be flashed as well as a set of FLASH partitions. This is only needed the first time
(or any time you which to modify either of these). An easy way is to use prebuilt binaries for NuttX from `here <https://github.com/espressif/esp-nuttx-bootloader>`_. In there you will find instructions to rebuild these if necessary.
Once you downloaded both binaries, you can flash them by adding an ``ESPTOOL_BINDIR`` parameter, pointing to the directiry where these binaries were downloaded::
make download ESPTOOL_PORT=<port> ESPTOOL_BINDIR=<dir>
..note:: It is recommended that if this is the first time you are using the board with NuttX that you perform a complete
