Processors run on “machine code” a.k.a. “object code,” which is basically just numbers that tell the processor what to do. Assembly language is a type of “source code” (i.e., what programmers write) that’s very close to object code. You can write programs using Assembly, but it’s a major pain in the ass and rarely worth the effort.
General-purpose processors (like the one in your computer) don’t *get* programmed. They *run* programs. The programs can be written in many programming languages. One way or another, they’ll be translated into something the processor can understand – either before running (compiled languages) or while running (interpreted languages).
“Firmware” is really just software stored in static memory that controls interaction with hardware. Your computer’s “firmware” is the BIOS, which is stored in the motherboard. Other pieces of your computer, or devices connected to it, might have their own firmware.
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