ReferenceHardware
| Pin | STM32F051 | STM32G071 | STM32G431 | STM32G431+ | STM32L431 | AT32F421 | GD32E230 | GD32F350 |
|---|---|---|---|---|---|---|---|---|
| Input | PA2 | PA2 | PA2 | PA2 | PA2 | PA2 | PA2 | PA2 |
| Telem | PB6 | PB6 | PB6 | PB6 | PB6 | PB6 | PB6 | PB6 |
| High_A | PA8 | PA8 | PA8 | PA8 | PA8 | PA8 | PA8 | PA8 |
| High_B | PA9 | PA9 | PA9 | PA9 | PA9 | PA9 | PA9 | PA9 |
| High_C | PA10 | PA10 | PA10 | PA10 | PA10 | PA10 | PA10 | PA10 |
| Low_A | PA7 | PA7 | PA7 | PB13 | PA7 | PA7 | PA7 | PA7 |
| Low_B | PB0 | PB0 | PB0 | PB14 | PB0 | PB0 | PB0 | PB0 |
| Low_C | PB1 | PB1 | PF0 | PB15 | PB1 | PB1 | PB1 | PB1 |
| BEMF_A | PA0 | PA1 | PA0 | PA0 | PA0 | PA0 | PA0 | PA0 |
| BEMF_B | PA4 | PA3 | PA4 | PA4 | PA4 | PA4 | PA4 | PA4 |
| BEMF_C | PA5 | PB4 | PA5 | PA5 | PA5 | PA5 | PA5 | PA5 |
| BEMF_Ref | PA1 | PA0+PB7 | PA1+PA3 | PA1+PA3 | PA1 | PA1 | PA1 | PA1 |
| Hall_A | PA15 | PA15 | PB3 | PB4 | - | - | - | PA15 |
| Hall_B | PB3 | PB3 | PB5 | PB5 | - | - | - | PB3 |
| Hall_C | PB5 | PB5 | PB7 | PB0 | - | - | - | PB5 |
| Hall_XOR | PB4 | PC6 | PB4 | internal | - | - | - | PB4 |
| ADC_Temp | - | PA6 | - | PB2 | - | PB2 | - | - |
| ADC_Volt | PA6 | PA5 | PA6 | PA6 | PA6 | PA6 | PA6 | PA6 |
| ADC_Curr | PA3 | PA4 | PF1 | PA7 | PA3 | PA3 | PA3 | PA3 |
| WS2812 | - | PB8 | PB8 | PB8 | - | PB7 | - | - |
| AUX | - | PB8/PB9/PC6 | PA15 | PA15 | - | PB8 | - | - |
Everything below the BEMF pins is optional. Pin swap is possible within the BEMF/Hall/ADC groups. Most legacy BlHeli32 pinouts are supported, but not recommended for new designs.
