I haven't used C since university, and haven't coded for microcontrollers ever. Read: the code might be really bad.

Check out src/settings.h for actual settings and src/common_defs.h for constants.

1. Install CMake
2. Prepare project with mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release -G "Unix Makefiles" .. && cd ..
3. Run cmake --build build

1. Connect the controller to USB port
2. Install c45b bootloader frontend
3. Uncomment the flash(...) line in CMakeLists.txt
4. Update device name with your USB serial port connected to the controller
5. Build the project

Use screen /dev/cu.usbserial-AI1WX4XP 19200 but use your USB serial port instead of cu.usbserial-AI1WX4XP. Ctrl+a+\ to exit, just in case.

S. Burenkov for awesome controllers and open source library for them.