Ethan Zonca from Protofusion writes, “After making the switch from AVR to STM32 microcontrollers, I redesigned my old 6-pin ICSP pogo-programming adapter for SWD. The new design allows programming with pogo pins or a small pin header soldered to the pogo pads for debugging, all with the same cable. The footprint uses surface mount pads only, so it can be placed on even the most compact board layouts.”
More info at Protofusion.org project page.