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You can upload to a STM32F1 that has the Maple DFU uploader present by using

upload_protocol = dfu

full example for a STM32F103CB

[env:genericSTM32F103CB]
platform = ststm32
board = genericSTM32F103CB
framework = arduino
; after upload (and for reupload), show up as a USB serial port when the firmware is running
build_flags =
  -D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
; upload via DFU (plus leave first few kB free for Maple DFU bootloader
upload_protocol = dfu

Or if you want to use the Maple Arduino core instead STM32Duino

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