Here's a tip to avoid a pitfall with the VL discovery board from STM. I'm sure I've read something similar relating to espruino, but I can't find the text anymore.
If your ST-Link Utility can't connect to the board and you got an "Internal command error" use the "Connect under reset" feature of the utility. Just press and hold the reset button of the board and choose the Menu item "Target" -> "Connect" (or click on the connect icon). Release the reset button. And now ST-Link should establish a connection.
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