Dfu-util is a host side implementation of the DFU 1.0 and DFU 1.1 [1] specification of the USB forum.
Note: This patched sources has quirks for STM32F4xx Black Pill dev.board.
DFU is intended to download and upload firmware to devices connected over USB. It ranges from small devices like micro-controller boards up to mobile phones and single-board computers. dfu-util is able to download firmware to devices as well as to upload firmware from them.
dfu-util has been tested with Openmoko Neo1973 and Freerunner and many other devices.
The official website is:
http://dfu-util.sourceforge.net
See the INSTALL file for build instructions.
[1] DFU 1.1 specification: https://www.usb.org/sites/default/files/DFU_1.1.pdf