Zephyr Workbench, a VSCode extension to manage Zephyr on STM32.
It enables users to easily create, develop, and debug Zephyr applications.
Main features:
Install host dependencies.
Import toolchain and SDK.
Create, configure, build and manage apps.
Debug STM32.
You can directly download it from the VSCode marketplace
For more details, visit the Zephyr Workbench
For this you should edit the link editor script (the file with extension ‘ld’) to have the FLASH start at 0x8004000 (changing the start address and length in the MEMORY section) then load and debug your code normally.