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Uavcan compatible bootloader for stm32

I am currently working with 3 stm32 boards all running uavcan. I currently program them manually via stlink. which is slow. I do not have any experience with bootloaders and thus i’m posting this question. Is there a uavcan compatible bootloader that can be used?. If yes, are there any guidelines or tutorials on how to work with these bootloaders?

Best Regards

Yes. We have a demo application for STM32F4 I posted on this forum earlier, you could use it as a starting point. It is based on Kocherga – an MIT-licensed multi-protocol bootloader library: