Flashing Huvud v0.61 with CanBoot

I’ve got a Huvud v0.61 toolhead board that came flashed with the HID bootloader. I’m successfully flashing the Klipper firmware to it via USB. Now that @Arksine and @koconnor have landed the CAN bootloader support, I’m interested in switching over to CanBoot so that I can flash the board in-situ.

I do not have an ST-Link Programmer. The Huvud schematic shows that pins PA9 and PA10 are connected to the stepper motor driver. Is it possible to flash CanBoot via dfu-util or stm32flash, or do I need to purchase an ST-Link programmer?

Thanks for the hard work, folks! Seems like these boards are suddenly becoming available (with variants from Mellow and BTT) and I’m excited to use them more “natively”.

https://www.klipper3d.org/Bootloaders.html#stm32f103-with-hid-bootloader

You could try the OpenOCD method. Just spitballing, never tried.