The STM32F401XB/STM32F401XC devices are based on the high-performance ARM? Cortex? -M4 32-bit RISC core operating at a frequency of up to 84 MHz. The Cortex?-M4 core features a Floating point unit （FPU） single precision which supports all ARM single-precision data-processing instructions and data types. It also implements a full set of DSP instructions and a memory protection unit （MPU） which enhances application security. The STM32F401xB/STM32F401xC incorporate high-speed embedded memories （up to 256 Kbytes of Flash memory， up to 64 Kbytes of SRAM）， and an extensive range of enhanced I/Os and peripherals connected to two APB buses， two AHB buses and a 32-bit multi-AHB bus matrix. All devices offer one 12-bit ADC， a low-power RTC， six general-purpose 16-bit timers including one PWM timer for motor control， two general-purpose 32-bit timers. They also feature standard and advanced communication interfaces.