Bootloader from flash memory

Does anybody knows if the ODrive firmware has the USB bootloader inside of it? I mean, I know that it is possible to update the ODrive firmware withou changing the positionl of the switch from RUN to DFU, but how we do that? I already investigate the github pages about the firmware but didn’t find anything. Thaks in advance

The STM32F405 chip itself has a USB DFU bootloader in ROM. The DFU switch grounds the BOOT0 pin of the chip which activates this ROM.

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You can also just type odrivetool dfu in a shell and it’ll put the chip into dfu mode then flash it automatically.