How do you perform a firmware update on a product board with the RN42/RN41?

How do you perform a firmware update on a product board with the RN42/RN41? Should you have access/control to some specific RN42/RN41 pins? Can it be performed through Bluetooth® technology?

Unfortunately, there is no way to upgrade the RN42/RN41 module in the field with a firmware version 6.15 or older. Microchip Device Firmware Update (DFU) Utility can be used to perform DFU update over UART on the RN41/42 Bluetooth module starting with firmware version 6.30 onwards. The DFU image files (.dfu) for the new release of the firmware will be provided to update the firmware.

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