STM32GENERIC/tools/documentation/mkdocs/upload.md

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Uploading your sketch

Select the upload method from the Tools / upload menu option.

Method Connection Requirements
SWD / JTAG SWD pins SWD Programmer hardware, (included in Nucleo and Discovery boards)
Mass storage SWD pins ST-Link V2.1, (included in Nucleo and Discovery boards)
System bootloader UART1 BOOT0 / BOOT1 pins accessible, USB to UART adapter
USB Flash bootloader USB USB connector, Bootloader already installed using other method
Black Magic Probe USB Black Magic Probe