Translate SQL Server update statement to MySQL
MySQL requires a distinct approach: An INSERT with ON DUPLICATE KEY UPDATE.
Example above works like this:

INSERT INTO TBEstabelecimento ( 
    DSEndGeoSys, DSPrecisaoGeoSys, NRCGCCEICPF, NRLatGeoSys, NRLngGeoSys, TPInscricao  
) 
VALUES  (   'Icém - SP, 15460-000, República Federativa do Brasil', 
            'APROXIMADA', '06291846001771', -20.4053212, -49.1625989, '1'
) ON DUPLICATE KEY UPDATE     
DSEndGeoSys = VALUES(DSEndGeoSys), 
DSPrecisaoGeoSys = VALUES(DSPrecisaoGeoSys), 
NRCGCCEICPF = VALUES(NRCGCCEICPF), 
NRLatGeoSys = VALUES(NRLatGeoSys), 
NRLngGeoSys = VALUES(NRLngGeoSys),
TPInscricao = VALUES(TPInscricao) 


Of course, the big benefit of such approach is when you have several VALUES like (csv1), (csv2), ... so you can do the whole update with only one command