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There's an app for that: $RECONOS/tools/impact/dlusbfw.sh (link to source).
$RECONOS/tools/impact/dlusbfw.sh
Alternatively, you can also download the firmware manually:
fxload -v -t fx2 -I <path_to_firmware>/xusbdfwu.hex -D /dev/bus/usb/XXX/YYY
Replace XXX and YYY with the bus and device IDs where the USB cable is connected.