Your sensor is quite simple. I guess you can figure out which pins to solder to each other by yourself. I'll provide a small walktrough.
First of all download STM32F103VE datasheet and reference manual from st.com, Primer2 manual from Resources section on this site and datasheet for your sensor.
1) Power.
You need to decide where to take power from for your sensor. It requires 3.3V to 5V to operate (from sensor datasheet) and Primer2 can provide only 2.8V at extension connector. This means you wil,l have to take power directly from the battery (see this project for example). Other option is to use step-up voltage converter. GND can be taken from extension connector.
2) Input
Next you need to use one of many pins on ext connector capable for I/O to read sensor status. Just choose one of the pins (except CAN and power pins). Look for pin names in primer's manual.