I'm going to develop a new product with ESP32-D0WDQ6. How do I write firmware to the chip for the first time? Must we use JTAG mode, or just use UART, the same way as the development board writes?

我们想用ESP32开发产品，想问下该芯片第一次怎么下载固件（我知道你们模组出厂是带固件的），是用esp-idf直接通过串口烧录吗？还是第一次必须用JTAG烧入，以后就可以用串口升级