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STM32 CubeProgrammer
ST released oficial tool which is used for uploading of your code to STM32 microcontrollers.

STM32 Cube Programmer tool is working on all common operating systems - Windows, Linux and MacOS.
This software supports SWD and JTAG interfaces and also UART and DFU interfaces.

The STM32 Cube Programmer is used for uploading, verification, erase the memory and set the configuration bits.

Input dat formats: Motorola S19, Intel HEX, ELF and binary files

You can control the software through GUI and also CLI (command-line interface).

Download link is here:

Main screen

Upgrade FW possibiity

SWD/JTAG interfaces

UART interafce

DFU interface