MODE GPIO0 GPIO2 GPIO15
UART Program 0 1 0
Normal Run 1 1 0
SD Card Boot 0 0 1
Normally 0,2 should be high and 15 low. Depending on the board these may already be pulled high and low accordingly.
To put it into upload mode GPIO0 needs to be low whilst the board is reset. It will then wait for the upload program to send new program. It will automatically reboot at the end of this.