24 MHz ARM Cortex-M3 with 16 KB Flash — entry-level control
The 64-LQFP package brings out 51 general-purpose I/O, and the on-chip peripherals include DMA, a temperature sensor, power-on reset, programmable voltage detector, and multiple PWM channels — covering the common blocks for a single-chip control node without external glue logic.
The STM32F100R4T6B integrates a 12-bit ADC with 16 multiplexed channels and two 12-bit DACs, enabling direct sensor readback and analog output without an external converter. The DMA controller offloads the CPU for peripheral-to-memory transfers, which matters when the 24 MHz core is handling real-time control loops.