Programming external QSPI flash Raspberry Pi Pico

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I want to reprogram the external flash of a raspberry Pico via SWD line. This feature must be implemented in a different microcontroller, not from a Linux computer so the OpenOCD library cannot be used.

I already wrote a C library that is able to read and write in RAM and in core registers via SWD and I'm able to put the Cortex-M0+ into halt state.

I read many tutorials and documentation and those that are useful are:

but unfortunately they aren't clear enough.

Can you explain the sequence of commands that I should send to RP2040 to correctly upload the new firmware?

Thanks for your help!

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