AN2606 can be understood as the central point for all bootloader questions and also mentions the associated documents in section 2:
- AN3154: CAN protocol used in the STM32 bootloader
- AN3155: USART protocol used in the STM32 bootloader
- AN3156: USB DFU protocol used in the STM32 bootloader
- AN4221: I2C protocol used in the STM32 bootloader
- AN4286: SPI protocol used in the STM32 bootloader
- AN5405: FDCAN protocol used in the STM32 bootloader
AN3155 is probably the appnote you are interested in.
Good luck!
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/Peter
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