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Download ST Link Utility from https://www.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-programmers/stsw-link004.html
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Download openocd http://openocd.org/getting-openocd/
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launch openocd with
openocd.exe -f nerf.cfg -
connect with telnet 127.0.0.1:4444