TIL how to flash flight controller with Ardupilot on Mac without STM32Cube Programmer, just by using CLI dfu-util. The steps are described at Loading a bootloader with DFU. Note to future self: what you download for wiring this way should be bootloader available by link Bootloaders.

% dfu-util --list
dfu-util 0.11

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2021 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to http://sourceforge.net/p/dfu-util/tickets/

Found DFU: [0483:df11] ver=0200, devnum=1, cfg=1, intf=0, path="0-1", alt=1, name="@Option Bytes   /0x5200201C/01*128 e", serial="200364500000"
Found DFU: [0483:df11] ver=0200, devnum=1, cfg=1, intf=0, path="0-1", alt=0, name="@Internal Flash   /0x08000000/16*128Kg", serial="200364500000"
% dfu-util -a 0 --dfuse-address 0x08000000 -D ~/Downloads/MatekH743_bl.bin
dfu-util 0.11

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2021 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to http://sourceforge.net/p/dfu-util/tickets/

dfu-util: Warning: Invalid DFU suffix signature
dfu-util: A valid DFU suffix will be required in a future dfu-util release
Opening DFU capable USB device...
Device ID 0483:df11
Device DFU version 011a
Claiming USB DFU Interface...
Setting Alternate Interface #0 ...
Determining device status...
DFU state(2) = dfuIDLE, status(0) = No error condition is present
DFU mode device DFU version 011a
Device returned transfer size 1024
DfuSe interface name: "Internal Flash   "
Downloading element to address = 0x08000000, size = 17404
Erase   	[=========================] 100%        17404 bytes
Erase    done.
Download	[=========================] 100%        17404 bytes
Download done.
File downloaded successfully