At the moment there is no seamless integration with projects generated by STM32CubeMX
tool. Instead, a small cross-platform Python application called stm32pio
can be used to create and update PlatformIO projects from STM32CubeMX .ioc files.
It uses STM32CubeMX to generate a HAL-framework-based code and alongside creates
PlatformIO project with compatible parameters to stick them both together.
More details about stm32pio tool can be found in the official repository.