Not entirely sure I understand the question, but as I understand things, "firmware programming" is programming the flash of a device with the contents of the firmware/software...
ST even mention in their guide that usually not much attention is given to this. But Espressif does give some guidelines here:https://www.espressif.com/sites/default/files/docu......
While I was a freelancer (20 years mid-career until a few years ago), I used to order cheap demo boards of things which might be useful to customers, and practice...
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Signal Processing Engineer Seeking a DSP Engineer to tackle complex technical challenges. Requires expertise in DSP algorithms, EW, anti-jam, and datalink vulnerability. Qualifications: Bachelor's degree, Secret Clearance, and proficiency in waveform modulation, LPD waveforms, signal detection, MATLAB, algorithm development, RF, data links, and EW systems. The position is on-site in Huntsville, AL and can support candidates at 3+ or 10+ years of experience.