feat(platform): Add OpenOCD programming support for STeaMi and Nucleo 64 boards

- Modified `platform.txt` to enable programming via OpenOCD, which was already used for debugging.
- Added an example demonstrating how to program all Nucleo-64 boards, whether they use STLink or DAPLink.

To avoid conflict, the support for STeaMi will be added after the merge of the PR #2526

*Benefits:*

- Enables programming of STeaMi boards.
- Supports P_NUCLEO boards that use DAPLink instead of STLink to leverage WebUSB functionality.

Author: nedseb

boards.txt

@@ -802,6 +802,7 @@ Nucleo_64.menu.pnum.P_NUCLEO_WB55RG=P-Nucleo WB55RG
 Nucleo_64.menu.pnum.P_NUCLEO_WB55RG.node="NODE_WB55RG,NOD_WB55RG"
 Nucleo_64.menu.pnum.P_NUCLEO_WB55RG.upload.maximum_size=524288
 Nucleo_64.menu.pnum.P_NUCLEO_WB55RG.upload.maximum_data_size=196608
+Nucleo_64.menu.upload_method.OpenOCD.upload.target=stm32wbx
 Nucleo_64.menu.pnum.P_NUCLEO_WB55RG.build.mcu=cortex-m4
 Nucleo_64.menu.pnum.P_NUCLEO_WB55RG.build.fpu=-mfpu=fpv4-sp-d16
 Nucleo_64.menu.pnum.P_NUCLEO_WB55RG.build.float-abi=-mfloat-abi=hard
@@ -817,6 +818,7 @@ Nucleo_64.menu.pnum.P_NUCLEO_WB55_USB_DONGLE=P-Nucleo WB55 USB Dongle
 Nucleo_64.menu.pnum.P_NUCLEO_WB55_USB_DONGLE.node="No_mass_storage_for_this_board_Use_STLink_upload_method"
 Nucleo_64.menu.pnum.P_NUCLEO_WB55_USB_DONGLE.upload.maximum_size=524288
 Nucleo_64.menu.pnum.P_NUCLEO_WB55_USB_DONGLE.upload.maximum_data_size=196608
+Nucleo_64.menu.upload_method.OpenOCD.upload.target=stm32wbx
 Nucleo_64.menu.pnum.P_NUCLEO_WB55_USB_DONGLE.build.mcu=cortex-m4
 Nucleo_64.menu.pnum.P_NUCLEO_WB55_USB_DONGLE.build.fpu=-mfpu=fpv4-sp-d16
 Nucleo_64.menu.pnum.P_NUCLEO_WB55_USB_DONGLE.build.float-abi=-mfloat-abi=hard
@@ -876,6 +878,16 @@ Nucleo_64.menu.upload_method.dfuMethod.upload.protocol=dfu
 Nucleo_64.menu.upload_method.dfuMethod.upload.options=-v {upload.vid} -p {upload.pid}
 Nucleo_64.menu.upload_method.dfuMethod.upload.tool=stm32CubeProg
 
+Nucleo_64.menu.upload_method.OpenOCD=OpenOCD STLink (SWD)
+Nucleo_64.menu.upload_method.OpenOCD.upload.protocol=stlink
+Nucleo_64.menu.upload_method.OpenOCD.upload.setup_command=transport select hla_swd;
+Nucleo_64.menu.upload_method.OpenOCD.upload.tool=openocd_upload
+
+Nucleo_64.menu.upload_method.OpenOCD=OpenOCD DapLink (SWD)
+Nucleo_64.menu.upload_method.OpenOCD.upload.protocol=cmsis-dap
+Nucleo_64.menu.upload_method.OpenOCD.upload.setup_command=transport select swd;
+Nucleo_64.menu.upload_method.OpenOCD.upload.tool=openocd_upload
+
 ################################################################################
 # Nucleo 32 boards
 

platform.txt

@@ -238,6 +238,14 @@ tools.remoteproc_gen.upload.params.verbose=
 tools.remoteproc_gen.upload.params.quiet=
 tools.remoteproc_gen.upload.pattern="{busybox}" sh "{path}/{script}" generate "{build.path}/{build.project_name}.elf" "{build.path}/run_arduino_{build.project_name}.sh"
 
+# OpenOCD sketch upload
+tools.openocd_upload.path={openocd_dir}
+tools.openocd_upload.cmd=bin/openocd
+tools.openocd_upload.cmd.windows=bin/openocd.exe
+tools.openocd_upload.upload.params.verbose=-d2
+tools.openocd_upload.upload.params.quiet=-d0
+tools.openocd_upload.upload.pattern="{path}/{cmd}" {upload.verbose} -f interface/{upload.protocol}.cfg -c "{upload.setup_command}" -f target/{upload.target}.cfg -c "program {{build.path}/{build.project_name}.bin} verify reset; shutdown;"
+
 #
 # Debugger
 #