Use the standard Serial Wire Debug (SWD) Arm® CoreSight™ Debug Access Port (DAP) protocol to exit the debug interface mode.
This is managed using the built-in CxxxPWRUPREQ and CxxxPWRUPACK features found in the Arm CoreSight DAP. When the debugger stops requesting the debug domain or the complete system to be powered up, the device exits the debug interface mode.
We recommend a reset of the device that results in cold boot after programming by doing a power cycle.