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Connect to STM32L476 custom board over JTAG or direct USB port?

Is there a way to work with Mongoose os and STM32L476 MCU using by connecting with wither JTAG (segger Jlink) or to the MCU's direct USB port? We have a custom board with this MCU on it (essentially same MCU as on STM32L475 IoT board) and have JTAG and direct USB connection but no direct connection to UART. Is there a way to work with Mongoose OS with either of these connectivity options?

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