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How to upload firmware on Nordic nfr52840 pca10056 via UART

I want to know the upgradation process of firmware (Zephyr OS) on nordic nrf52840_pca10056.

I have flashed the Zephyr OS on chip once via Jlink/JTAG, and now I want to flash it over UART from host processor.
How I should start the process? I have referred some threads of this forum but didn't able to figure out the starting process of flashing via UART.

Do I need to flash the bootloader first when flashing via UART or it is not need because I have already flashed zephyr OS via JTAG.

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