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Hi, i trying to Debugging and flash nrf-firmware without PA Dongle(only use debug adapter in VM )
but stm-bootloader and Crazyflie-firmware are good well through STM debug port
The following error occurred when suing the 'STM23 ST-LINK utility'
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17:16:19 : Can not connect to the target!
Please select "Connect Under Reset" mode from Target->Settings menu and try again.
17:16:21 : Unexpected error

How can i solve this Error??

You likely cannot use stm32 utilities to flash the nRF51, you can use an STLINK/V2 with either openocd or pyocd though.

First of all, you need to solder the debug adapter on the side of the Crazyflie. The debug port for STM and NRF are unfortunately separated and the nRF debug port is not attached by default.

The firmware project is crazylie2-nrf-firmware.

Once you have the STLINK connected to the side debug port and passed in the VM, you should be able to compile and flash the nRF firmware with "make flash". The project is setup to use openocd and STLINK/V2 by default.