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The STM32F1 doesn't have a USB bootloader, so you've got to flash it either via the SWD/JTAG pins, or using the serial bootloader.
There are already some instructions on using the Serial Bootloader here, which should help you out: http://www.espruino.com/Serial+Bootloader
Espruino on the F1 (and F4) has its own bootloader, which is how you can flash it from the Web IDE :)
Hey, has anyone tried to get Espruino loaded on a raw STM32F1?
Do I need to upload something through the JTAG?
I do have the USB port available, so maybe the ST link should work? If so, then how do I get a vanilla STM32 to enter the same state as Espruino's flash mode?
Sorry to ask something not directly Espruino-board related @Gordon, when I get this working I can write up a howto for it if you'd like. I guess it's inevitable that someone would like to use the Espruino for custom PCBs and the like (which you already know I'm already doing).