Download the Package_P20_IT_Firmware_BIOS_for_MSDOS_Windows for the correct models you have, then the easiest way to update is with Windows, by either installing the HBA on a Windows desktop or installing Windows on the server on a spare SSD or something, then just follow the instructions but basically is opening a command prompt windows and typing from where the package folder was unzipped:
sas2flash -o -f blahblah.bin
You can also boot form a dos flash drive an the update is the same, just using the DOS executable, though it only work wit older boards, newer ones will require the UEFI utility,
sas2flsh -o - f blahblah.bin
P.S. since you have two HBAs you'd need to specify the correct number, or just remove the other one and do it one at a time.
I'm sure it's also possible to do it on Linux, but likely more complicated.