Warning: This process is incompatible with Asus BW-16D1HT drives manufactured prior to 2015. The model number is the same, so take note of the date. To ensure your drive is compatible, run MakeMKV and check the drive before attempting firmware flashing.
1) You need the SDF file, you can find it in your MakeMKV data folder. This is set up in The MakeMKV Prefences, and is ~/.MakeMKV by default.
~/.MakeMKV/_private_data.tar has SDF files from using MakeMKV to open disks. Use the GUI to open a disk, to ensure there is at least one SDF. While you're at it, validate that the drive is compatible and versions are correct, etc.
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# List data in tar archive
tar -tvf ~/.MakeMKV/_private_data.tar
# Extract Specific SDF file
tar -xvf ~/.MakeMKV/_private_data.tar sdf_000000??.bin
3) MakeMKVcon contains sdftool built into it's command line. You can use this to flash the drive, but read the help options carefully. Using MakeMKV 1.15.1, the following commands worked for me.
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sudo makemkvcon f --help
sudo makemkvcon f -f sdf_00000076.bin -d /dev/sr0 rawflash -i ASUS-BW-16D1HT-3.10-WM01601-211901041014.bin
I'm using Ubuntu 18.04, but this should be transient to any Linux.
My version of sdftool is:
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$ sudo makemkvcon f --version
LibDriveIo/SdfTool version: 2.01