There is a series of libmaple-based cores, including Roger Clark's libmaple-based core. These are highly optimized, and provide very complete support, but only for a limited number of boards. Unfortunately, at the time of this writing (2023/04), they are not available for installation via the Arduino Board Manager, and they do not currently seem actively maintained. For using these with Mozzi, see Mozzi on STM32-boards with libmaple based core.
A generic Arduino core for STM32 is the STM32duino core. It supports a huge set of boards, and seems to have offical backing by STM, but some features of the libmaple based cores are still lacking. To complete confusion, this core now uses the label "STM32duino", which used to be what the libmaple cores above were known by (don't blame Mozzi for this mess!). For using this with Mozzi, see Mozzi on STM32duino-based boards.
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