Install dfu-util, and ensure you have version 4.8 or 4.9 of gcc-arm-none-eabi.

You will also need a functioning Python 2.7+ or 3.4+ environment, with pyserial installed:

pip install pyserial

Download the µCAN source code:

git clone https://github.com/thiemar/mucan.git
cd mucan
make -j8

Attach the µCAN adapter via USB, identify the device name (typically /dev/ttyACM<x>, /dev/ttyUSB<x>, or /dev/tty.usbmodem<x>), then run:

cd tools
./flashdfu.sh /path/to/device

If the command fails, and the device is in DFU mode already, you can run the dfu-util commands directly:

dfu-util --device 0483:df11 -a 0 --dfuse-address 0x08000000 --download ../firmware/app.bin
dfu-util --device 0483:df11 -a 1 --dfuse-address 0x1FFFF800:leave --download ../firmware/ob.bin

The second command will display a warning; this can be ignored. The µCAN adapter should restart and be re-enumerated at this point.