STM32 Bluepill as IOMCU

Hi guys,

it’s possible to use a STM32 Bluepill as IOMCU ?
I received a linux board (beagle head) and on this board there is no PRU, so instead to use the PCA9685 I was thinking in use an IOMCU - and I have some bluepills boards and I was thinking to use this bluepill.

Best regards