PWM

M1
PA8
5 V tolerant I/O
TIM1, CH1
M2
PE11
5 V tolerant I/O
TIM1, CH2
M3
PE13
5 V tolerant I/O
TIM1, CH3
M4
PE14
5 V tolerant I/O
TIM1, CH4
M5
PD14
5 V tolerant I/O
TIM4, CH3
M6*
PD15
5 V tolerant I/O
TIM4, CH4
M7
PA0
5 V tolerant I/O
TIM5, CH1
M8
PA1
5 V tolerant I/O
TIM5, CH2
M9
PE5
5 V tolerant I/O
TIM15,CH1
M10*
PE6
5 V tolerant I/O
TIM15,CH2
M11
PB5
5 V tolerant I/O
TIM3, CH2
M12
PB0
5 V tolerant I/O
TIM3, CH3
M13
PB1
3.3 V tolerant I/O
TIM3, CH4
M14
PA15
5 V tolerant I/O
TIM2, CH1

*M6 M10 Not compatible with Dshot

ADC

Vbat11.5K:25.5K
PC5
0~36V
Vbat ADCADC_CHANNEL_1
scale 1800
Current1
PC4
0~3.3V
Current ADCADC_CHANNEL_2
scale 275
RSSI Pad
PC0
0~3.3V
RSSI ADCADC_CHANNEL_3
Analog RSSI
Vbat2 Pad1.5K:25.5K
PA3
0~36V
Vbat2 ADCADC_CHANNEL_4
scale 1800
Current 2 Pad
PA2
0~3.3V
Current2 ADCADC_CHANNEL_5
Spare

I2C

I2C1 – CL1/DA1(GPS Port)
PB8/PB7
5 V tolerant I/O
Compass
QMC5883 / HMC5883 /MAG3110 / LIS3MDL/ etc
I2C2 – CL2/DA2(I2C Port)
PB10/PB11
5 V tolerant I/O
Digital Airspeed sensor/ Temperature sensor/ etc.
–
I2C4
PD12/13
5 V tolerant I/O
Onboard Barometer
BMP280

UART

USB
PA11/PA12
5 V tolerant I/O
USB
–
TX1 RX1
PB6/PA10
5 V tolerant I/O
UART1
GPS1
TX2 RX2
PD5/PD6
5 V tolerant I/O
UART2
–
TX3 RX3
PD8/PD9
5 V tolerant I/O
USART3
–
TX5 RX5
PB13/PD2
5 V tolerant I/O
UART5
–
TX6 RX6
PC6/PC7
5 V tolerant I/O
USART6
RC input/ReceiverCRSF/SBUS/IBUS/DSM/PPM/FPORT/SRXL2 etc.
RX7 TX7
PE8/PE7
3.3 V tolerant I/O
UART7
–
TX8 RX8
PE1/PE0
5 V tolerant I/O
UART8
–