You need TTL3.3v serial port. Example USB to UART Prolific PL-2303 chip.
TX line of serial port to RxD (sic!) point on primer's board.RX line of serial port to TxD (sic!) point on primer's board.GND.
R42 change with 10К resistor.
Connect Boot0 point to nRTS line of serial port or use jumper instead R49 to enter program mode after reset
Connect nDTR of serial port to Reset point via semi-key and/or connect button to Reset and GND points on primer board.
Install python and pyserial library. On Debian type command
apt-get install python python-serial
Download flash loader stm32loader.py.gz
Get help:
./stm32loader.py --help
Erase, write and verify compiled binary:
./stm32loader.py -e -w -v example/main.bin
Loader have bug: you must disconnect serial port after flashing and reset MCU.