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Pull up BOOT0 (SWCLK) to VDD and connect in USB DFU mode.
By the way, looking at that schematics...
- NRST has a 4,7k pull-up resistor - degrading.
- SWDIO/SWCLK have a 10k pull-up/down resistors respectively - useless.
- Crystal has a 1M resistor in parallel - degrading.
- USB_P/N lines have a 27R resistors in series - degrading.
- TMC2209 UART signals are connected directly, but should have a 1k series resistor for each driver instead of a single one for MCU - dangerous.
- TMC2209 UART on MCU side is implemented with Tx and Rx pins instead of a single half-duplex pin - wastes pin.
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