diff --git a/src/main/drivers/serial_uart_at32f43x.c b/src/main/drivers/serial_uart_at32f43x.c
index 22f6eb66e..83942fd12 100644
--- a/src/main/drivers/serial_uart_at32f43x.c
+++ b/src/main/drivers/serial_uart_at32f43x.c
@@ -67,6 +67,12 @@
 #ifndef UART5_RX_DMA_CHANNEL
 #define UART5_RX_DMA_CHANNEL NULL
 #endif
+#ifndef UART6_TX_DMA_CHANNEL
+#define UART6_TX_DMA_CHANNEL NULL
+#endif
+#ifndef UART6_RX_DMA_CHANNEL
+#define UART6_RX_DMA_CHANNEL NULL
+#endif
 #ifndef UART7_TX_DMA_CHANNEL
 #define UART7_TX_DMA_CHANNEL NULL
 #endif
@@ -216,14 +222,14 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = {
         .rxPins = {
             { DEFIO_TAG_E(PB5), GPIO_MUX_8 },
             { DEFIO_TAG_E(PB8), GPIO_MUX_8 },
-			{ DEFIO_TAG_E(PD2), GPIO_MUX_8 },
-			{ DEFIO_TAG_E(PE11), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PD2), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PE11), GPIO_MUX_8 },
         },
         .txPins = {
-                { DEFIO_TAG_E(PB6), GPIO_MUX_8 },
-		{ DEFIO_TAG_E(PB9), GPIO_MUX_8 },
-		{ DEFIO_TAG_E(PC12), GPIO_MUX_8 },
-		{ DEFIO_TAG_E(PE10), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PB6), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PB9), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PC12), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PE10), GPIO_MUX_8 },
         },
         .rcc = RCC_APB1(UART5),
         .irqn = UART5_IRQn,
@@ -235,6 +241,38 @@ const uartHardware_t uartHardware[UARTDEV_COUNT] = {
         .rxBufferSize = sizeof(uart5RxBuffer),
     },
 #endif
+#ifdef USE_UART6
+    {
+        .device = UARTDEV_6,
+        .reg = USART6,
+#ifdef USE_DMA
+        .rxDMAMuxId = DMAMUX_DMAREQ_ID_USART6_RX,
+        .rxDMAResource = (dmaResource_t *)UART6_RX_DMA_CHANNEL,
+        .txDMAMuxId = DMAMUX_DMAREQ_ID_USART6_RX,
+        .txDMAResource = (dmaResource_t *)UART6_TX_DMA_CHANNEL,
+#endif
+        .rxPins = {
+            { DEFIO_TAG_E(PA5),  GPIO_MUX_8 },
+            { DEFIO_TAG_E(PA12), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PC7),  GPIO_MUX_8 },
+            { DEFIO_TAG_E(PG9), GPIO_MUX_8 },
+        },
+        .txPins = {
+            { DEFIO_TAG_E(PA4),  GPIO_MUX_8 },
+            { DEFIO_TAG_E(PA11), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PC6), GPIO_MUX_8 },
+            { DEFIO_TAG_E(PG4), GPIO_MUX_8 },
+        },
+        .rcc = RCC_APB2(USART6),
+        .irqn = USART6_IRQn,
+        .txPriority = NVIC_PRIO_SERIALUART6_TXDMA,
+        .rxPriority = NVIC_PRIO_SERIALUART6,
+        .txBuffer = uart6TxBuffer,
+        .rxBuffer = uart6RxBuffer,
+        .txBufferSize = sizeof(uart6TxBuffer),
+        .rxBufferSize = sizeof(uart6RxBuffer),
+    },
+#endif
 
 #ifdef USE_UART7
     {