From dda662fa861e682a765f3a13841b9c71a59cf8f5 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Thu, 23 Jun 2016 08:16:43 +0100
Subject: [PATCH 01/54] Fixed calling of updateRcCommands.

---
 src/main/mw.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/mw.c b/src/main/mw.c
index 5a95f1c92..36dcad2a6 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -694,6 +694,8 @@ void subTaskMainSubprocesses(void) {
     #endif
 
     #if defined(BARO) || defined(SONAR)
+            // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
+            updateRcCommands();
             if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
                 if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
                     applyAltHold(&masterConfig.airplaneConfig);
@@ -874,8 +876,10 @@ void taskUpdateRxMain(void)
     processRx();
     isRXDataNew = true;
 
+#if !defined(BARO) && !defined(SONAR)
     // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
     updateRcCommands();
+#endif
     updateLEDs();
 
 #ifdef BARO

From 6f06be77f8574c50e54ab61095901ceb922de0ae Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Fri, 24 Jun 2016 21:06:40 +1200
Subject: [PATCH 02/54] Changed 'Makefile' to enable 'make' (without parameters
 to make use of multicore CPUs.

---
 Makefile | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index c083a6190..37b2dd292 100644
--- a/Makefile
+++ b/Makefile
@@ -664,7 +664,7 @@ all: $(VALID_TARGETS)
 $(VALID_TARGETS):
 		echo "" && \
 		echo "Building $@" && \
-		$(MAKE) -j binary hex TARGET=$@ && \
+		$(MAKE) binary hex TARGET=$@ && \
 		echo "Building $@ succeeded."
 
 ## clean             : clean up all temporary / machine-generated files
@@ -700,8 +700,11 @@ st-flash_$(TARGET): $(TARGET_BIN)
 ## st-flash          : flash firmware (.bin) onto flight controller
 st-flash: st-flash_$(TARGET)
 
-binary: $(TARGET_BIN)
-hex:    $(TARGET_HEX)
+binary:
+	$(MAKE) -j $(TARGET_BIN)
+
+hex:
+	$(MAKE) -j $(TARGET_HEX)
 
 unbrick_$(TARGET): $(TARGET_HEX)
 	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon

From ee860b122ba794dd01d5e5cae3645b9cd26f489e Mon Sep 17 00:00:00 2001
From: rotcehdnih <Hector@3xa-gaming.net>
Date: Sun, 26 Jun 2016 16:40:32 +1000
Subject: [PATCH 03/54] X_RACERSPI support for betaflight V3

---
 fake_travis_build.sh                 |   3 +-
 src/main/target/X_RACERSPI/target.c  | 106 ++++++++++++++++++
 src/main/target/X_RACERSPI/target.h  | 161 +++++++++++++++++++++++++++
 src/main/target/X_RACERSPI/target.mk |  15 +++
 4 files changed, 284 insertions(+), 1 deletion(-)
 create mode 100644 src/main/target/X_RACERSPI/target.c
 create mode 100644 src/main/target/X_RACERSPI/target.h
 create mode 100644 src/main/target/X_RACERSPI/target.mk

diff --git a/fake_travis_build.sh b/fake_travis_build.sh
index 5bae319ad..e9b25f9b2 100755
--- a/fake_travis_build.sh
+++ b/fake_travis_build.sh
@@ -20,7 +20,8 @@ targets=("PUBLISHMETA=True" \
     "TARGET=ALIENFLIGHTF3" \
     "TARGET=DOGE" \
     "TARGET=SINGULARITY" \
-    "TARGET=SIRINFPV")
+    "TARGET=SIRINFPV" \
+	"TARGET=X_RACERSPI")
 
 #fake a travis build environment
 export TRAVIS_BUILD_NUMBER=$(date +%s)
diff --git a/src/main/target/X_RACERSPI/target.c b/src/main/target/X_RACERSPI/target.c
new file mode 100644
index 000000000..ff9c8044f
--- /dev/null
+++ b/src/main/target/X_RACERSPI/target.c
@@ -0,0 +1,106 @@
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
+
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM16 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM16 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #10
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM16 | (MAP_TO_SERVO_OUTPUT  << 8), // server #6
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
+    // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM8 - PA3
+
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0},  // GPIO_TIMER / LED_STRIP
+};
+
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
new file mode 100644
index 000000000..a655c93e2
--- /dev/null
+++ b/src/main/target/X_RACERSPI/target.h
@@ -0,0 +1,161 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "X_RACERSPI"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+
+#define LED0 PC14
+#define BEEPER PC15
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 17
+
+
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define MPU6000_CS_PIN        PA15
+#define MPU6000_SPI_INSTANCE  SPI1
+
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW270_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW270_DEG
+
+// MPU6000 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define MPU_INT_EXTI PC13
+#define USE_EXTI
+
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_USART1
+#define USE_USART2
+#define USE_USART3
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT 5
+
+#ifndef UART1_GPIO
+#define UART1_TX_PIN        GPIO_Pin_9  // PA9
+#define UART1_RX_PIN        GPIO_Pin_10 // PA10
+#define UART1_GPIO          GPIOA
+#define UART1_GPIO_AF       GPIO_AF_7
+#define UART1_TX_PINSOURCE  GPIO_PinSource9
+#define UART1_RX_PINSOURCE  GPIO_PinSource10
+#endif
+
+#define UART2_TX_PIN        GPIO_Pin_2 // PA14 / SWCLK
+#define UART2_RX_PIN        GPIO_Pin_3 // PA15
+#define UART2_GPIO          GPIOA
+#define UART2_GPIO_AF       GPIO_AF_7
+#define UART2_TX_PINSOURCE  GPIO_PinSource2
+#define UART2_RX_PINSOURCE  GPIO_PinSource3
+
+#ifndef UART3_GPIO
+#define UART3_TX_PIN        GPIO_Pin_10 // PB10 (AF7)
+#define UART3_RX_PIN        GPIO_Pin_11 // PB11 (AF7)
+#define UART3_GPIO_AF       GPIO_AF_7
+#define UART3_GPIO          GPIOB
+#define UART3_TX_PINSOURCE  GPIO_PinSource10
+#define UART3_RX_PINSOURCE  GPIO_PinSource11
+#endif
+
+#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
+#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
+#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+//GPIO_AF_1
+
+#define SPI1_NSS_PIN            PA15
+#define SPI1_SCK_PIN            PB3
+#define SPI1_MISO_PIN           PB4
+#define SPI1_MOSI_PIN           PB5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define ADC_INSTANCE                ADC2
+#define VBAT_ADC_PIN                PA4
+#define CURRENT_METER_ADC_PIN       PA5
+#define RSSI_ADC_PIN                PB2
+
+#define LED_STRIP
+#define LED_STRIP_TIMER             TIM1
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL2
+#define WS2811_GPIO                     GPIOA
+#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
+#define WS2811_GPIO_AF                  GPIO_AF_6
+#define WS2811_PIN                      GPIO_Pin_8
+#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_TIMER                    TIM1
+#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
+#define WS2811_DMA_CHANNEL              DMA1_Channel2
+#define WS2811_IRQ                      DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN   PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+
+
diff --git a/src/main/target/X_RACERSPI/target.mk b/src/main/target/X_RACERSPI/target.mk
new file mode 100644
index 000000000..2b09dc76d
--- /dev/null
+++ b/src/main/target/X_RACERSPI/target.mk
@@ -0,0 +1,15 @@
+F3_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH
+
+TARGET_SRC = \
+			drivers/accgyro_mpu.c \
+		   drivers/accgyro_spi_mpu6000.c \
+		   drivers/compass_ak8975.c \
+		   drivers/compass_hmc5883l.c \
+		   drivers/display_ug2864hsweg01.h \
+		   drivers/flash_m25p16.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/serial_softserial.c \
+		   drivers/sonar_hcsr04.c 
+

From 016886fb3d04fc955bc29ece841ee58cc40096ba Mon Sep 17 00:00:00 2001
From: rotcehdnih <Hector@3xa-gaming.net>
Date: Sun, 26 Jun 2016 17:21:20 +1000
Subject: [PATCH 04/54] VARIANT of SPRACINGF3

---
 src/main/target/X_RACERSPI/target.mk | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/target/X_RACERSPI/target.mk b/src/main/target/X_RACERSPI/target.mk
index 2b09dc76d..71e749cc2 100644
--- a/src/main/target/X_RACERSPI/target.mk
+++ b/src/main/target/X_RACERSPI/target.mk
@@ -1,5 +1,6 @@
 F3_TARGETS  += $(TARGET)
 FEATURES    = ONBOARDFLASH
+TARGET_FLAGS = -DSPRACINGF3
 
 TARGET_SRC = \
 			drivers/accgyro_mpu.c \

From 27e6034bb5c162c3f73874e2efb6b211d081b15c Mon Sep 17 00:00:00 2001
From: 4712betaflight <4712betaflight@outlook.de>
Date: Sun, 26 Jun 2016 13:47:34 +0200
Subject: [PATCH 05/54] Add missing uint32_t tp #585

---
 src/main/drivers/serial.c | 2 +-
 src/main/drivers/serial.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/serial.c b/src/main/drivers/serial.c
index bb81d3dd8..8a17ce679 100644
--- a/src/main/drivers/serial.c
+++ b/src/main/drivers/serial.c
@@ -56,7 +56,7 @@ void serialWriteBuf(serialPort_t *instance, uint8_t *data, int count)
     }
 }
 
-uint8_t serialRxBytesWaiting(serialPort_t *instance)
+uint32_t serialRxBytesWaiting(serialPort_t *instance)
 {
     return instance->vTable->serialTotalRxWaiting(instance);
 }
diff --git a/src/main/drivers/serial.h b/src/main/drivers/serial.h
index d8f868ae7..1f75e931d 100644
--- a/src/main/drivers/serial.h
+++ b/src/main/drivers/serial.h
@@ -81,7 +81,7 @@ struct serialPortVTable {
 };
 
 void serialWrite(serialPort_t *instance, uint8_t ch);
-uint8_t serialRxBytesWaiting(serialPort_t *instance);
+uint32_t serialRxBytesWaiting(serialPort_t *instance);
 uint8_t serialTxBytesFree(serialPort_t *instance);
 void serialWriteBuf(serialPort_t *instance, uint8_t *data, int count);
 uint8_t serialRead(serialPort_t *instance);

From c14af2506c5b7e85a71d9ffb7977e6ad7440e06c Mon Sep 17 00:00:00 2001
From: rotcehdnih <Hector@3xa-gaming.net>
Date: Sun, 26 Jun 2016 23:43:44 +1000
Subject: [PATCH 06/54] Fix whitespace to tab

---
 fake_travis_build.sh                 | 48 +++++++++++++++-------------
 src/main/target/X_RACERSPI/target.mk | 22 ++++++-------
 2 files changed, 36 insertions(+), 34 deletions(-)

diff --git a/fake_travis_build.sh b/fake_travis_build.sh
index e9b25f9b2..6c1077209 100755
--- a/fake_travis_build.sh
+++ b/fake_travis_build.sh
@@ -1,28 +1,30 @@
 #!/bin/bash
 
 targets=("PUBLISHMETA=True" \
-    "TARGET=CC3D" \
-    "TARGET=CC3D_OPBL" \
-    "TARGET=COLIBRI_RACE" \
-    "TARGET=LUX_RACE" \
-    "TARGET=SPRACINGF3" \
-    "TARGET=SPRACINGF3EVO" \
-    "TARGET=SPRACINGF3MINI" \
-    "TARGET=OMNIBUS" \
-    "TARGET=NAZE" \
-    "TARGET=AFROMINI" \
-    "TARGET=RMDO" \
-    "TARGET=SPARKY" \
-    "TARGET=MOTOLAB" \
-    "TARGET=PIKOBLX" \
-    "TARGET=IRCFUSIONF3" \
-    "TARGET=ALIENFLIGHTF1" \
-    "TARGET=ALIENFLIGHTF3" \
-    "TARGET=DOGE" \
-    "TARGET=SINGULARITY" \
-    "TARGET=SIRINFPV" \
+	"TARGET=CC3D" \
+	"TARGET=CC3D_OPBL" \
+	"TARGET=COLIBRI_RACE" \
+	"TARGET=LUX_RACE" \
+	"TARGET=SPRACINGF3" \
+	"TARGET=SPRACINGF3EVO" \
+	"TARGET=SPRACINGF3MINI" \
+	"TARGET=OMNIBUS" \
+	"TARGET=NAZE" \
+	"TARGET=AFROMINI" \
+	"TARGET=RMDO" \
+	"TARGET=SPARKY" \
+	"TARGET=MOTOLAB" \
+	"TARGET=PIKOBLX" \
+	"TARGET=IRCFUSIONF3" \
+	"TARGET=ALIENFLIGHTF1" \
+	"TARGET=ALIENFLIGHTF3" \
+	"TARGET=DOGE" \
+	"TARGET=SINGULARITY" \
+	"TARGET=SIRINFPV" \
 	"TARGET=X_RACERSPI")
 
+
+
 #fake a travis build environment
 export TRAVIS_BUILD_NUMBER=$(date +%s)
 export BUILDNAME=${BUILDNAME:=fake_travis}
@@ -31,9 +33,9 @@ export TRAVIS_REPO_SLUG=${TRAVIS_REPO_SLUG:=$USER/simulated}
 for target in "${targets[@]}"
 do
 	unset RUNTESTS PUBLISHMETA TARGET
-  echo
-  echo
-  echo "BUILDING '$target'"
+	echo
+	echo
+	echo "BUILDING '$target'"
 	eval "export $target"
 	make -f Makefile clean
 	./.travis.sh
diff --git a/src/main/target/X_RACERSPI/target.mk b/src/main/target/X_RACERSPI/target.mk
index 71e749cc2..97b440729 100644
--- a/src/main/target/X_RACERSPI/target.mk
+++ b/src/main/target/X_RACERSPI/target.mk
@@ -1,16 +1,16 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = ONBOARDFLASH
+F3_TARGETS	+= $(TARGET)
+FEATURES	= ONBOARDFLASH
 TARGET_FLAGS = -DSPRACINGF3
 
 TARGET_SRC = \
 			drivers/accgyro_mpu.c \
-		   drivers/accgyro_spi_mpu6000.c \
-		   drivers/compass_ak8975.c \
-		   drivers/compass_hmc5883l.c \
-		   drivers/display_ug2864hsweg01.h \
-		   drivers/flash_m25p16.c \
-		   drivers/light_ws2811strip.c \
-		   drivers/light_ws2811strip_stm32f30x.c \
-		   drivers/serial_softserial.c \
-		   drivers/sonar_hcsr04.c 
+			drivers/accgyro_spi_mpu6000.c \
+			drivers/compass_ak8975.c \
+			drivers/compass_hmc5883l.c \
+			drivers/display_ug2864hsweg01.h \
+			drivers/flash_m25p16.c \
+			drivers/light_ws2811strip.c \
+			drivers/light_ws2811strip_stm32f30x.c \
+			drivers/serial_softserial.c \
+			drivers/sonar_hcsr04.c 
 

From 4d238b27d5d33ed3145b9c5b0424e89ed7380409 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sun, 26 Jun 2016 08:41:24 +0100
Subject: [PATCH 07/54] Moved targetLooptime into gyro_t, tidied gyro_sync and
 gyro

---
 src/main/blackbox/blackbox.c       |  5 +---
 src/main/blackbox/blackbox_io.c    |  1 -
 src/main/config/config.c           |  1 -
 src/main/drivers/accgyro.h         |  1 +
 src/main/drivers/accgyro_mpu.c     | 10 ++++---
 src/main/drivers/accgyro_mpu.h     |  2 +-
 src/main/drivers/accgyro_mpu3050.c |  1 -
 src/main/drivers/accgyro_mpu6050.c |  2 +-
 src/main/drivers/gyro_sync.c       | 44 +++++++++++++-----------------
 src/main/drivers/gyro_sync.h       |  7 ++---
 src/main/drivers/sensor.h          |  2 +-
 src/main/flight/mixer.c            |  1 -
 src/main/flight/pid.c              |  3 +-
 src/main/io/osd.c                  |  1 -
 src/main/io/rc_controls.c          |  1 -
 src/main/io/serial_cli.c           |  1 -
 src/main/io/serial_msp.c           |  7 ++---
 src/main/main.c                    |  5 ++--
 src/main/mw.c                      |  2 +-
 src/main/rx/rx.c                   |  1 -
 src/main/sensors/acceleration.c    |  1 -
 src/main/sensors/gyro.c            | 20 +++++++-------
 src/main/sensors/gyro.h            |  2 --
 src/main/sensors/initialisation.c  |  3 +-
 24 files changed, 52 insertions(+), 72 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index ed88dd40b..46bae1958 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -325,9 +325,6 @@ extern uint32_t currentTime;
 //From rx.c:
 extern uint16_t rssi;
 
-//From gyro.c
-extern uint32_t targetLooptime;
-
 //From rc_controls.c
 extern uint32_t rcModeActivationMask;
 
@@ -1169,7 +1166,7 @@ static bool blackboxWriteSysinfo()
             }
             );
 
-        BLACKBOX_PRINT_HEADER_LINE("looptime:%d",                         targetLooptime);
+        BLACKBOX_PRINT_HEADER_LINE("looptime:%d",                         gyro.targetLooptime);
         BLACKBOX_PRINT_HEADER_LINE("rcRate:%d",                           masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
         BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d",                           masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
         BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d",                        masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8);
diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c
index 82c105eb4..7f9b1ec5b 100644
--- a/src/main/blackbox/blackbox_io.c
+++ b/src/main/blackbox/blackbox_io.c
@@ -22,7 +22,6 @@
 #include "drivers/accgyro.h"
 #include "drivers/light_led.h"
 #include "drivers/sound_beeper.h"
-#include "drivers/gyro_sync.h"
 
 #include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
diff --git a/src/main/config/config.c b/src/main/config/config.c
index c371ad294..b7d404d3d 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -38,7 +38,6 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/serial.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/pwm_output.h"
 #include "drivers/max7456.h"
 
diff --git a/src/main/drivers/accgyro.h b/src/main/drivers/accgyro.h
index 385ea90b9..3d90de1bc 100644
--- a/src/main/drivers/accgyro.h
+++ b/src/main/drivers/accgyro.h
@@ -27,6 +27,7 @@ typedef struct gyro_s {
     sensorReadFuncPtr temperature;                          // read temperature if available
     sensorInterruptFuncPtr intStatus;
     float scale;                                            // scalefactor
+    uint32_t targetLooptime;
 } gyro_t;
 
 typedef struct acc_s {
diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index 0882581d3..1dbe97609 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -32,7 +32,6 @@
 #include "gpio.h"
 #include "exti.h"
 #include "bus_i2c.h"
-#include "gyro_sync.h"
 
 #include "sensor.h"
 #include "accgyro.h"
@@ -300,11 +299,14 @@ bool mpuGyroRead(int16_t *gyroADC)
     return true;
 }
 
-void checkMPUDataReady(bool *mpuDataReadyPtr) {
+bool checkMPUDataReady(void)
+{
+    bool ret;
     if (mpuDataReady) {
-        *mpuDataReadyPtr = true;
+        ret = true;
         mpuDataReady= false;
     } else {
-        *mpuDataReadyPtr = false;
+        ret = false;
     }
+    return ret;
 }
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 6dbfcebf6..20389147e 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -185,4 +185,4 @@ void mpuIntExtiInit(void);
 bool mpuAccRead(int16_t *accData);
 bool mpuGyroRead(int16_t *gyroADC);
 mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse);
-void checkMPUDataReady(bool *mpuDataReadyPtr);
+bool checkMPUDataReady(void);
diff --git a/src/main/drivers/accgyro_mpu3050.c b/src/main/drivers/accgyro_mpu3050.c
index c97472815..cefaf94b2 100644
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@@ -30,7 +30,6 @@
 #include "accgyro.h"
 #include "accgyro_mpu.h"
 #include "accgyro_mpu3050.h"
-#include "gyro_sync.h"
 
 // MPU3050, Standard address 0x68
 #define MPU3050_ADDRESS         0x68
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index d2717b135..d4fa0fb84 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -1,4 +1,4 @@
-/*
+/*
  * This file is part of Cleanflight.
  *
  * Cleanflight is free software: you can redistribute it and/or modify
diff --git a/src/main/drivers/gyro_sync.c b/src/main/drivers/gyro_sync.c
index 934708f37..61305e181 100644
--- a/src/main/drivers/gyro_sync.c
+++ b/src/main/drivers/gyro_sync.c
@@ -4,48 +4,40 @@
  *  Created on: 3 aug. 2015
  *      Author: borisb
  */
+
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 
 #include "platform.h"
 #include "build_config.h"
 
-#include "common/axis.h"
-#include "common/maths.h"
-
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/gyro_sync.h"
 
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
-
-#include "config/runtime_config.h"
-#include "config/config.h"
-
-extern gyro_t gyro;
-
-uint32_t targetLooptime;
 static uint8_t mpuDividerDrops;
 
-bool getMpuDataStatus(gyro_t *gyro)
+bool gyroSyncCheckUpdate(const gyro_t *gyro)
 {
-    bool mpuDataStatus;
     if (!gyro->intStatus)
-      return false;
-    gyro->intStatus(&mpuDataStatus);
-    return mpuDataStatus;
+        return false;
+    return gyro->intStatus();
 }
 
-bool gyroSyncCheckUpdate(void) {
-    return getMpuDataStatus(&gyro);
-}
+#define GYRO_LPF_256HZ      0
+#define GYRO_LPF_188HZ      1
+#define GYRO_LPF_98HZ       2
+#define GYRO_LPF_42HZ       3
+#define GYRO_LPF_20HZ       4
+#define GYRO_LPF_10HZ       5
+#define GYRO_LPF_5HZ        6
+#define GYRO_LPF_NONE       7
 
-void gyroUpdateSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator) {
+uint32_t gyroSetSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator)
+{
     int gyroSamplePeriod;
 
-    if (!lpf || lpf == 7) {
+    if (lpf == GYRO_LPF_256HZ || lpf == GYRO_LPF_NONE) {
         gyroSamplePeriod = 125;
     } else {
         gyroSamplePeriod = 1000;
@@ -54,9 +46,11 @@ void gyroUpdateSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator) {
 
     // calculate gyro divider and targetLooptime (expected cycleTime)
     mpuDividerDrops  = gyroSyncDenominator - 1;
-    targetLooptime = (mpuDividerDrops + 1) * gyroSamplePeriod;
+    const uint32_t targetLooptime = gyroSyncDenominator * gyroSamplePeriod;
+    return targetLooptime;
 }
 
-uint8_t gyroMPU6xxxGetDividerDrops(void) {
+uint8_t gyroMPU6xxxGetDividerDrops(void)
+{
     return mpuDividerDrops;
 }
diff --git a/src/main/drivers/gyro_sync.h b/src/main/drivers/gyro_sync.h
index 5c229c689..f682e218c 100644
--- a/src/main/drivers/gyro_sync.h
+++ b/src/main/drivers/gyro_sync.h
@@ -5,8 +5,7 @@
  *      Author: borisb
  */
 
-extern uint32_t targetLooptime;
-
-bool gyroSyncCheckUpdate(void);
+struct gyro_s;
+bool gyroSyncCheckUpdate(const struct gyro_s *gyro);
 uint8_t gyroMPU6xxxGetDividerDrops(void);
-void gyroUpdateSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator);
+uint32_t gyroSetSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator);
diff --git a/src/main/drivers/sensor.h b/src/main/drivers/sensor.h
index 6554f8267..7ae17f510 100644
--- a/src/main/drivers/sensor.h
+++ b/src/main/drivers/sensor.h
@@ -22,4 +22,4 @@ typedef void (*sensorInitFuncPtr)(void);                    // sensor init proto
 typedef bool (*sensorReadFuncPtr)(int16_t *data);           // sensor read and align prototype
 typedef void (*sensorAccInitFuncPtr)(struct acc_s *acc);    // sensor init prototype
 typedef void (*sensorGyroInitFuncPtr)(uint8_t lpf);         // gyro sensor init prototype
-typedef void (*sensorInterruptFuncPtr)(bool *data);         // sensor Interrupt Data Ready
+typedef bool (*sensorInterruptFuncPtr)(void);               // sensor Interrupt Data Ready
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index e67723789..adc0145ba 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -36,7 +36,6 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/system.h"
-#include "drivers/gyro_sync.h"
 
 #include "rx/rx.h"
 
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index e1ba58227..91ccbc2d8 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -29,7 +29,6 @@
 #include "common/filter.h"
 
 #include "drivers/sensor.h"
-#include "drivers/gyro_sync.h"
 
 #include "drivers/accgyro.h"
 #include "sensors/sensors.h"
@@ -74,7 +73,7 @@ pidControllerFuncPtr pid_controller = pidInteger; // which pid controller are we
 
 void setTargetPidLooptime(uint8_t pidProcessDenom) 
 {
-    targetPidLooptime = targetLooptime * pidProcessDenom;
+    targetPidLooptime = gyro.targetLooptime * pidProcessDenom;
 }
 
 uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) 
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index db4c8ad4e..69f3f5691 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -52,7 +52,6 @@
 #include "drivers/inverter.h"
 #include "drivers/flash_m25p16.h"
 #include "drivers/sonar_hcsr04.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/usb_io.h"
 #include "drivers/transponder_ir.h"
 #include "drivers/sdcard.h"
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index 23a87e764..7eec0de89 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -34,7 +34,6 @@
 #include "drivers/system.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
-#include "drivers/gyro_sync.h"
 
 #include "sensors/barometer.h"
 #include "sensors/battery.h"
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 237a5310f..87df64634 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -48,7 +48,6 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/sdcard.h"
-#include "drivers/gyro_sync.h"
 
 #include "drivers/buf_writer.h"
 
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 3bd8d1441..9f2609c0a 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -40,7 +40,6 @@
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/sdcard.h"
 #include "drivers/buf_writer.h"
 #include "drivers/max7456.h"
@@ -109,8 +108,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
     uint16_t gyroSampleRate = 1000;
     uint8_t maxDivider = 1;
 
-    if (looptime != targetLooptime || looptime == 0) {
-        if (looptime == 0) looptime = targetLooptime; // needed for pid controller changes
+    if (looptime != gyro.targetLooptime || looptime == 0) {
+        if (looptime == 0) looptime = gyro.targetLooptime; // needed for pid controller changes
 #ifdef STM32F303xC
         if (looptime < 1000) {
             masterConfig.gyro_lpf = 0;
@@ -854,7 +853,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
     case MSP_LOOP_TIME:
         headSerialReply(2);
-        serialize16((uint16_t)targetLooptime);
+        serialize16((uint16_t)gyro.targetLooptime);
         break;
     case MSP_RC_TUNING:
         headSerialReply(11);
diff --git a/src/main/main.c b/src/main/main.c
index dba36d3f4..686e39504 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -49,7 +49,6 @@
 #include "drivers/inverter.h"
 #include "drivers/flash_m25p16.h"
 #include "drivers/sonar_hcsr04.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/sdcard.h"
 #include "drivers/usb_io.h"
 #include "drivers/transponder_ir.h"
@@ -694,12 +693,12 @@ void main_init(void)
 
     /* Setup scheduler */
     schedulerInit();
-    rescheduleTask(TASK_GYROPID, targetLooptime);
+    rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
     setTaskEnabled(TASK_GYROPID, true);
 
     if(sensors(SENSOR_ACC)) {
         setTaskEnabled(TASK_ACCEL, true);
-        switch(targetLooptime) {  // Switch statement kept in place to change acc rates in the future
+        switch(gyro.targetLooptime) {  // Switch statement kept in place to change acc rates in the future
              case(500):
              case(375):
              case(250):
diff --git a/src/main/mw.c b/src/main/mw.c
index 5b282c3e8..31d6e22c7 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -800,7 +800,7 @@ void taskMainPidLoopCheck(void)
 
     const uint32_t startTime = micros();
     while (true) {
-        if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
+        if (gyroSyncCheckUpdate(&gyro) || ((currentDeltaTime + (micros() - previousTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) {
             static uint8_t pidUpdateCountdown;
 
             if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 5d36956d4..255fb547e 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -41,7 +41,6 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/system.h"
-#include "drivers/gyro_sync.h"
 #include "rx/pwm.h"
 #include "rx/sbus.h"
 #include "rx/spektrum.h"
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 320d00ddd..e4471fe30 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -28,7 +28,6 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/system.h"
-#include "drivers/gyro_sync.h"
 
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index bce60a1fc..5cd741526 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -28,7 +28,6 @@
 
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
-#include "drivers/gyro_sync.h"
 #include "sensors/sensors.h"
 #include "io/beeper.h"
 #include "io/statusindicator.h"
@@ -36,29 +35,30 @@
 
 #include "sensors/gyro.h"
 
-uint16_t calibratingG = 0;
+gyro_t gyro;                      // gyro access functions
+sensor_align_e gyroAlign = 0;
+
 int32_t gyroADC[XYZ_AXIS_COUNT];
 float gyroADCf[XYZ_AXIS_COUNT];
-int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 
+static uint16_t calibratingG = 0;
+static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 static gyroConfig_t *gyroConfig;
 static biquad_t gyroFilterState[3];
 static bool gyroFilterStateIsSet;
 static float gyroLpfCutFreq;
 
-gyro_t gyro;                      // gyro access functions
-sensor_align_e gyroAlign = 0;
-
 void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz)
 {
     gyroConfig = gyroConfigToUse;
     gyroLpfCutFreq = gyro_lpf_hz;
 }
 
-void initGyroFilterCoefficients(void) {
+void initGyroFilterCoefficients(void)
+{
     int axis;
-    if (gyroLpfCutFreq && targetLooptime) {  /* Initialisation needs to happen once samplingrate is known */
-        for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], targetLooptime);
+    if (gyroLpfCutFreq && gyro.targetLooptime) {  /* Initialisation needs to happen once samplingrate is known */
+        for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], gyro.targetLooptime);
         gyroFilterStateIsSet = true;
     }
 }
@@ -79,7 +79,7 @@ bool isOnFinalGyroCalibrationCycle(void)
 }
 
 uint16_t calculateCalibratingCycles(void) {
-    return (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
+    return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
 }
 
 bool isOnFirstGyroCalibrationCycle(void)
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 04a5188a0..075cccbe6 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -31,11 +31,9 @@ typedef enum {
 } gyroSensor_e;
 
 extern gyro_t gyro;
-extern sensor_align_e gyroAlign;
 
 extern int32_t gyroADC[XYZ_AXIS_COUNT];
 extern float gyroADCf[XYZ_AXIS_COUNT];
-extern int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT];
 
 typedef struct gyroConfig_s {
     uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 00093d18e..df394c7a6 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -79,6 +79,7 @@ extern float magneticDeclination;
 extern gyro_t gyro;
 extern baro_t baro;
 extern acc_t acc;
+extern sensor_align_e gyroAlign;
 
 uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
 
@@ -632,7 +633,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
         acc.init(&acc);
     }
     // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
-    gyroUpdateSampleRate(gyroLpf, gyroSyncDenominator);    // Set gyro refresh rate before initialisation
+    gyro.targetLooptime = gyroSetSampleRate(gyroLpf, gyroSyncDenominator);    // Set gyro sample rate before initialisation
     gyro.init(gyroLpf);
 
     detectMag(magHardwareToUse);

From 75237dd2099351512368617ae4b9df9be78080a1 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sun, 26 Jun 2016 16:14:17 +0100
Subject: [PATCH 08/54] Fixed up gyro init.

---
 src/main/config/config.c          |  2 +-
 src/main/io/rc_controls.c         |  2 +-
 src/main/main.c                   |  2 +-
 src/main/mw.c                     |  2 +-
 src/main/sensors/gyro.c           | 53 +++++++++++++------------------
 src/main/sensors/gyro.h           |  5 +--
 src/main/sensors/initialisation.c |  1 +
 7 files changed, 30 insertions(+), 37 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index b7d404d3d..2c0c9c17d 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -750,7 +750,7 @@ void activateConfig(void)
         &currentProfile->pidProfile
     );
 
-    useGyroConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
+    gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
 
 #ifdef TELEMETRY
     telemetryUseConfig(&masterConfig.telemetryConfig);
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index 7eec0de89..0848670db 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -209,7 +209,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
 
     if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
         // GYRO calibration
-        gyroSetCalibrationCycles(calculateCalibratingCycles());
+        gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
 
 #ifdef GPS
         if (feature(FEATURE_GPS)) {
diff --git a/src/main/main.c b/src/main/main.c
index 686e39504..c6cf2ffb2 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -625,7 +625,7 @@ void init(void)
     if (masterConfig.mixerMode == MIXER_GIMBAL) {
         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
     }
-    gyroSetCalibrationCycles(calculateCalibratingCycles());
+    gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
 #ifdef BARO
     baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
 #endif
diff --git a/src/main/mw.c b/src/main/mw.c
index 31d6e22c7..65abe6b48 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -377,7 +377,7 @@ void mwArm(void)
     static bool firstArmingCalibrationWasCompleted;
 
     if (masterConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
-        gyroSetCalibrationCycles(calculateCalibratingCycles());
+        gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
         armingCalibrationWasInitialised = true;
         firstArmingCalibrationWasCompleted = true;
     }
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 5cd741526..fc28705bf 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -45,21 +45,20 @@ static uint16_t calibratingG = 0;
 static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 static gyroConfig_t *gyroConfig;
 static biquad_t gyroFilterState[3];
-static bool gyroFilterStateIsSet;
-static float gyroLpfCutFreq;
+static uint8_t gyroLpfHz;
 
-void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz)
+void gyroUseConfig(gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz)
 {
     gyroConfig = gyroConfigToUse;
-    gyroLpfCutFreq = gyro_lpf_hz;
+    gyroLpfHz = gyro_lpf_hz;
 }
 
-void initGyroFilterCoefficients(void)
+void gyroInit(void)
 {
-    int axis;
-    if (gyroLpfCutFreq && gyro.targetLooptime) {  /* Initialisation needs to happen once samplingrate is known */
-        for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], gyro.targetLooptime);
-        gyroFilterStateIsSet = true;
+    if (gyroLpfHz && gyro.targetLooptime) {  // Initialisation needs to happen once samplingrate is known
+        for (int axis = 0; axis < 3; axis++) {
+            BiQuadNewLpf(gyroLpfHz, &gyroFilterState[axis], gyro.targetLooptime);
+        }
     }
 }
 
@@ -73,27 +72,27 @@ bool isGyroCalibrationComplete(void)
     return calibratingG == 0;
 }
 
-bool isOnFinalGyroCalibrationCycle(void)
+static bool isOnFinalGyroCalibrationCycle(void)
 {
     return calibratingG == 1;
 }
 
-uint16_t calculateCalibratingCycles(void) {
+uint16_t gyroCalculateCalibratingCycles(void)
+{
     return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
 }
 
-bool isOnFirstGyroCalibrationCycle(void)
+static bool isOnFirstGyroCalibrationCycle(void)
 {
-    return calibratingG == calculateCalibratingCycles();
+    return calibratingG == gyroCalculateCalibratingCycles();
 }
 
 static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
 {
-    int8_t axis;
     static int32_t g[3];
     static stdev_t var[3];
 
-    for (axis = 0; axis < 3; axis++) {
+    for (int axis = 0; axis < 3; axis++) {
 
         // Reset g[axis] at start of calibration
         if (isOnFirstGyroCalibrationCycle()) {
@@ -113,10 +112,10 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
             float dev = devStandardDeviation(&var[axis]);
             // check deviation and startover in case the model was moved
             if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
-                gyroSetCalibrationCycles(calculateCalibratingCycles());
+                gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
                 return;
             }
-            gyroZero[axis] = (g[axis] + (calculateCalibratingCycles() / 2)) / calculateCalibratingCycles();
+            gyroZero[axis] = (g[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles();
         }
     }
 
@@ -129,8 +128,7 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
 
 static void applyGyroZero(void)
 {
-    int8_t axis;
-    for (axis = 0; axis < 3; axis++) {
+    for (int axis = 0; axis < 3; axis++) {
         gyroADC[axis] -= gyroZero[axis];
     }
 }
@@ -138,14 +136,13 @@ static void applyGyroZero(void)
 void gyroUpdate(void)
 {
     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
-    int axis;
 
     // range: +/- 8192; +/- 2000 deg/sec
     if (!gyro.read(gyroADCRaw)) {
         return;
     }
 
-    for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         if (debugMode == DEBUG_GYRO) debug[axis] = gyroADC[axis];
         gyroADC[axis] = gyroADCRaw[axis];
     }
@@ -158,16 +155,10 @@ void gyroUpdate(void)
 
     applyGyroZero();
 
-    if (gyroLpfCutFreq) {
-        if (!gyroFilterStateIsSet) initGyroFilterCoefficients(); /* initialise filter coefficients */
-
-        for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            if (gyroFilterStateIsSet) {
-                gyroADCf[axis] = applyBiQuadFilter((float) gyroADC[axis], &gyroFilterState[axis]);
-                gyroADC[axis] = lrintf(gyroADCf[axis]);
-            } else {
-                gyroADCf[axis] = gyroADC[axis]; // Otherwise float pid controller will not have gyro input when filter disabled
-            }
+    if (gyroLpfHz) {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
+            gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
     }
 }
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 075cccbe6..7a8214092 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -39,9 +39,10 @@ typedef struct gyroConfig_s {
     uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
 } gyroConfig_t;
 
-void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz);
+void gyroUseConfig(gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz);
 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+void gyroInit(void);
 void gyroUpdate(void);
 bool isGyroCalibrationComplete(void);
-uint16_t calculateCalibratingCycles(void);
+uint16_t gyroCalculateCalibratingCycles(void);
 
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index df394c7a6..80d616951 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -635,6 +635,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
     // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
     gyro.targetLooptime = gyroSetSampleRate(gyroLpf, gyroSyncDenominator);    // Set gyro sample rate before initialisation
     gyro.init(gyroLpf);
+    gyroInit();
 
     detectMag(magHardwareToUse);
 

From f3eb19430149ba58c74e1e06dd6dcfc22c334b76 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Mon, 27 Jun 2016 06:16:23 +1000
Subject: [PATCH 09/54] Update README.md

Logo change
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 0239f5961..28d9c66a1 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # Betaflight
 
-![Betaflight](https://dl.dropboxusercontent.com/u/31537757/betaflight%20logo.jpg)
+![Betaflight](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088900-228-bf_logo.jpg)
 
 Clean-code version of baseflight flight-controller - flight controllers are used to fly multi-rotor craft and fixed wing craft.
 

From 67f7ae7206ad8cb1a9aed196216dfdc4bcee136e Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Mon, 27 Jun 2016 06:34:25 +1000
Subject: [PATCH 10/54] Using githubusercontent for logo

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 28d9c66a1..0253334ef 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # Betaflight
 
-![Betaflight](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088900-228-bf_logo.jpg)
+![Betaflight](https://camo.githubusercontent.com/8178215d6cb90842dc95c9d437b1bdf09b2d57a7/687474703a2f2f7374617469632e726367726f7570732e6e65742f666f72756d732f6174746163686d656e74732f362f312f302f332f372f362f61393038383930302d3232382d62665f6c6f676f2e6a7067)
 
 Clean-code version of baseflight flight-controller - flight controllers are used to fly multi-rotor craft and fixed wing craft.
 

From deaeb23c84cd65d27afc12e134a8f0da8e2d3b76 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Mon, 27 Jun 2016 06:42:21 +1000
Subject: [PATCH 11/54] fixed incompatible pointer types in softserial

---
 src/main/drivers/serial_softserial.c | 2 +-
 src/main/drivers/serial_softserial.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index f5ed4d593..a2ad403b2 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -408,7 +408,7 @@ void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
     }
 }
 
-uint8_t softSerialRxBytesWaiting(serialPort_t *instance)
+uint32_t softSerialRxBytesWaiting(serialPort_t *instance)
 {
     if ((instance->mode & MODE_RX) == 0) {
         return 0;
diff --git a/src/main/drivers/serial_softserial.h b/src/main/drivers/serial_softserial.h
index daa9c5c64..af80423b0 100644
--- a/src/main/drivers/serial_softserial.h
+++ b/src/main/drivers/serial_softserial.h
@@ -28,7 +28,7 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
 
 // serialPort API
 void softSerialWriteByte(serialPort_t *instance, uint8_t ch);
-uint8_t softSerialRxBytesWaiting(serialPort_t *instance);
+uint32_t softSerialRxBytesWaiting(serialPort_t *instance);
 uint8_t softSerialTxBytesFree(serialPort_t *instance);
 uint8_t softSerialReadByte(serialPort_t *instance);
 void softSerialSetBaudRate(serialPort_t *s, uint32_t baudRate);

From d069945f894eb7ac2848eb19d8e6abf7bb529c3b Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sun, 26 Jun 2016 21:43:04 +0100
Subject: [PATCH 12/54] Improved gyroSetCalibrationCycles parameters.

---
 src/main/io/rc_controls.c |  2 +-
 src/main/main.c           |  2 +-
 src/main/mw.c             |  2 +-
 src/main/sensors/gyro.c   | 32 ++++++++++++++++----------------
 src/main/sensors/gyro.h   |  5 ++---
 5 files changed, 21 insertions(+), 22 deletions(-)

diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index 0848670db..fdea81003 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -209,7 +209,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
 
     if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
         // GYRO calibration
-        gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
+        gyroSetCalibrationCycles();
 
 #ifdef GPS
         if (feature(FEATURE_GPS)) {
diff --git a/src/main/main.c b/src/main/main.c
index c6cf2ffb2..743f77178 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -625,7 +625,7 @@ void init(void)
     if (masterConfig.mixerMode == MIXER_GIMBAL) {
         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
     }
-    gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
+    gyroSetCalibrationCycles();
 #ifdef BARO
     baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
 #endif
diff --git a/src/main/mw.c b/src/main/mw.c
index 65abe6b48..bf97c56a2 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -377,7 +377,7 @@ void mwArm(void)
     static bool firstArmingCalibrationWasCompleted;
 
     if (masterConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
-        gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
+        gyroSetCalibrationCycles();
         armingCalibrationWasInitialised = true;
         firstArmingCalibrationWasCompleted = true;
     }
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index fc28705bf..48113e934 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -41,32 +41,27 @@ sensor_align_e gyroAlign = 0;
 int32_t gyroADC[XYZ_AXIS_COUNT];
 float gyroADCf[XYZ_AXIS_COUNT];
 
-static uint16_t calibratingG = 0;
 static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
-static gyroConfig_t *gyroConfig;
-static biquad_t gyroFilterState[3];
-static uint8_t gyroLpfHz;
+static const gyroConfig_t *gyroConfig;
+static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
+static uint8_t gyroSoftLpfHz;
+static uint16_t calibratingG = 0;
 
-void gyroUseConfig(gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz)
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz)
 {
     gyroConfig = gyroConfigToUse;
-    gyroLpfHz = gyro_lpf_hz;
+    gyroSoftLpfHz = gyro_soft_lpf_hz;
 }
 
 void gyroInit(void)
 {
-    if (gyroLpfHz && gyro.targetLooptime) {  // Initialisation needs to happen once samplingrate is known
+    if (gyroSoftLpfHz && gyro.targetLooptime) {  // Initialisation needs to happen once samplingrate is known
         for (int axis = 0; axis < 3; axis++) {
-            BiQuadNewLpf(gyroLpfHz, &gyroFilterState[axis], gyro.targetLooptime);
+            BiQuadNewLpf(gyroSoftLpfHz, &gyroFilterState[axis], gyro.targetLooptime);
         }
     }
 }
 
-void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
-{
-    calibratingG = calibrationCyclesRequired;
-}
-
 bool isGyroCalibrationComplete(void)
 {
     return calibratingG == 0;
@@ -77,7 +72,7 @@ static bool isOnFinalGyroCalibrationCycle(void)
     return calibratingG == 1;
 }
 
-uint16_t gyroCalculateCalibratingCycles(void)
+static uint16_t gyroCalculateCalibratingCycles(void)
 {
     return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
 }
@@ -87,6 +82,11 @@ static bool isOnFirstGyroCalibrationCycle(void)
     return calibratingG == gyroCalculateCalibratingCycles();
 }
 
+void gyroSetCalibrationCycles(void)
+{
+    calibratingG = gyroCalculateCalibratingCycles();
+}
+
 static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
 {
     static int32_t g[3];
@@ -112,7 +112,7 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
             float dev = devStandardDeviation(&var[axis]);
             // check deviation and startover in case the model was moved
             if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
-                gyroSetCalibrationCycles(gyroCalculateCalibratingCycles());
+                gyroSetCalibrationCycles();
                 return;
             }
             gyroZero[axis] = (g[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles();
@@ -155,7 +155,7 @@ void gyroUpdate(void)
 
     applyGyroZero();
 
-    if (gyroLpfHz) {
+    if (gyroSoftLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
             gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
             gyroADC[axis] = lrintf(gyroADCf[axis]);
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 7a8214092..54069b8a6 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -39,10 +39,9 @@ typedef struct gyroConfig_s {
     uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
 } gyroConfig_t;
 
-void gyroUseConfig(gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz);
-void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz);
+void gyroSetCalibrationCycles(void);
 void gyroInit(void);
 void gyroUpdate(void);
 bool isGyroCalibrationComplete(void);
-uint16_t gyroCalculateCalibratingCycles(void);
 

From 6b5ffd14505a65e50561b61bd7f83490c375728b Mon Sep 17 00:00:00 2001
From: rotcehdnih <Hector@3xa-gaming.net>
Date: Mon, 27 Jun 2016 08:02:57 +1000
Subject: [PATCH 13/54] tab to space

---
 fake_travis_build.sh                 | 42 ++++++++++++++--------------
 src/main/target/X_RACERSPI/target.mk | 24 ++++++++--------
 2 files changed, 33 insertions(+), 33 deletions(-)

diff --git a/fake_travis_build.sh b/fake_travis_build.sh
index 6c1077209..1a2c9af90 100755
--- a/fake_travis_build.sh
+++ b/fake_travis_build.sh
@@ -1,27 +1,27 @@
 #!/bin/bash
 
 targets=("PUBLISHMETA=True" \
-	"TARGET=CC3D" \
-	"TARGET=CC3D_OPBL" \
-	"TARGET=COLIBRI_RACE" \
-	"TARGET=LUX_RACE" \
-	"TARGET=SPRACINGF3" \
-	"TARGET=SPRACINGF3EVO" \
-	"TARGET=SPRACINGF3MINI" \
-	"TARGET=OMNIBUS" \
-	"TARGET=NAZE" \
-	"TARGET=AFROMINI" \
-	"TARGET=RMDO" \
-	"TARGET=SPARKY" \
-	"TARGET=MOTOLAB" \
-	"TARGET=PIKOBLX" \
-	"TARGET=IRCFUSIONF3" \
-	"TARGET=ALIENFLIGHTF1" \
-	"TARGET=ALIENFLIGHTF3" \
-	"TARGET=DOGE" \
-	"TARGET=SINGULARITY" \
-	"TARGET=SIRINFPV" \
-	"TARGET=X_RACERSPI")
+    "TARGET=CC3D" \
+    "TARGET=CC3D_OPBL" \
+    "TARGET=COLIBRI_RACE" \
+    "TARGET=LUX_RACE" \
+    "TARGET=SPRACINGF3" \
+    "TARGET=SPRACINGF3EVO" \
+    "TARGET=SPRACINGF3MINI" \
+    "TARGET=OMNIBUS" \
+    "TARGET=NAZE" \
+    "TARGET=AFROMINI" \
+    "TARGET=RMDO" \
+    "TARGET=SPARKY" \
+    "TARGET=MOTOLAB" \
+    "TARGET=PIKOBLX" \
+    "TARGET=IRCFUSIONF3" \
+    "TARGET=ALIENFLIGHTF1" \
+    "TARGET=ALIENFLIGHTF3" \
+    "TARGET=DOGE" \
+    "TARGET=SINGULARITY" \
+    "TARGET=SIRINFPV" \
+    "TARGET=X_RACERSPI")
 
 
 
diff --git a/src/main/target/X_RACERSPI/target.mk b/src/main/target/X_RACERSPI/target.mk
index 97b440729..c0c219bd3 100644
--- a/src/main/target/X_RACERSPI/target.mk
+++ b/src/main/target/X_RACERSPI/target.mk
@@ -1,16 +1,16 @@
-F3_TARGETS	+= $(TARGET)
-FEATURES	= ONBOARDFLASH
+F3_TARGETS   += $(TARGET)
+FEATURES     = ONBOARDFLASH
 TARGET_FLAGS = -DSPRACINGF3
 
 TARGET_SRC = \
-			drivers/accgyro_mpu.c \
-			drivers/accgyro_spi_mpu6000.c \
-			drivers/compass_ak8975.c \
-			drivers/compass_hmc5883l.c \
-			drivers/display_ug2864hsweg01.h \
-			drivers/flash_m25p16.c \
-			drivers/light_ws2811strip.c \
-			drivers/light_ws2811strip_stm32f30x.c \
-			drivers/serial_softserial.c \
-			drivers/sonar_hcsr04.c 
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/display_ug2864hsweg01.h \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/sonar_hcsr04.c 
 

From 16d9a952a2b7bad70a3e84336b6eb55377f16925 Mon Sep 17 00:00:00 2001
From: Anders Hoglund <AndWho@gmail.com>
Date: Mon, 27 Jun 2016 14:12:02 +0200
Subject: [PATCH 14/54] Added I2C clock stretching.

---
 src/main/drivers/bus_i2c_stm32f10x.c | 3 +++
 src/main/drivers/bus_i2c_stm32f30x.c | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/src/main/drivers/bus_i2c_stm32f10x.c b/src/main/drivers/bus_i2c_stm32f10x.c
index c7e972b2d..72cf8769c 100644
--- a/src/main/drivers/bus_i2c_stm32f10x.c
+++ b/src/main/drivers/bus_i2c_stm32f10x.c
@@ -422,6 +422,9 @@ void i2cInit(I2CDevice device)
 
     I2C_Cmd(i2c->dev, ENABLE);
     I2C_Init(i2c->dev, &i2cInit);
+
+    I2C_StretchClockCmd(i2c->dev, ENABLE);
+    
     
     // I2C ER Interrupt
     nvic.NVIC_IRQChannel = i2c->er_irq;
diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index c324d03e7..8599d02f5 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -101,6 +101,8 @@ void i2cInit(I2CDevice device)
     
     I2C_Init(I2Cx, &i2cInit);
 
+    I2C_StretchClockCmd(I2Cx, ENABLE);
+      
     I2C_Cmd(I2Cx, ENABLE);
 }
 

From afda764e45c4af82be7d242133da743616317500 Mon Sep 17 00:00:00 2001
From: Anders Hoglund <AndWho@gmail.com>
Date: Mon, 27 Jun 2016 18:38:43 +0200
Subject: [PATCH 15/54] Tidy up the Makefile clean rules, same way main
 build/all rules was made. Single target clean now available as make goals.

---
 Makefile | 34 +++++++++++++++++++++++-----------
 1 file changed, 23 insertions(+), 11 deletions(-)

diff --git a/Makefile b/Makefile
index c083a6190..d97613b3e 100644
--- a/Makefile
+++ b/Makefile
@@ -667,24 +667,36 @@ $(VALID_TARGETS):
 		$(MAKE) -j binary hex TARGET=$@ && \
 		echo "Building $@ succeeded."
 
-## clean             : clean up all temporary / machine-generated files
+
+
+CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
+TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
+
+## clean             : clean up temporary / machine-generated files
 clean:
+	echo "Cleaning $(TARGET)"
 	rm -f $(CLEAN_ARTIFACTS)
 	rm -rf $(OBJECT_DIR)/$(TARGET)
+	echo "Cleaning $(TARGET) succeeded."
 
-## clean_test        : clean up all temporary / machine-generated files (tests)
+## clean_test        : clean up temporary / machine-generated files (tests)
 clean_test:
 	cd src/test && $(MAKE) clean || true
 
-## clean_all_targets : clean all valid target platforms
-clean_all:
-	for clean_target in $(VALID_TARGETS); do \
-		echo "" && \
-		echo "Cleaning $$clean_target" && \
-		$(MAKE) -j TARGET=$$clean_target clean || \
-		break; \
-		echo "Cleaning $$clean_target succeeded."; \
-	done
+## clean_<TARGET>    : clean up one specific target
+$(CLEAN_TARGETS) :
+	$(MAKE) -j TARGET=$(subst clean_,,$@) clean
+
+## <TARGET>_clean    : clean up one specific target (alias for above)
+$(TARGETS_CLEAN) :
+	$(MAKE) -j TARGET=$(subst _clean,,$@) clean
+
+## clean_all         : clean all valid targets
+clean_all:$(CLEAN_TARGETS)
+
+## all_clean         : clean all valid targets (alias for above)
+all_clean:$(TARGETS_CLEAN)
+
 
 flash_$(TARGET): $(TARGET_HEX)
 	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon

From 97fe5afd6c1e7f0c066c71ba3c3da0fb4f4ab2ec Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Mon, 27 Jun 2016 19:26:02 +0100
Subject: [PATCH 16/54] Converted tabs to spaces.

---
 src/main/drivers/accgyro_bma280.c             |   8 +-
 src/main/drivers/accgyro_l3g4200d.c           |   8 +-
 src/main/drivers/accgyro_lsm303dlhc.c         |   6 +-
 src/main/drivers/accgyro_mma845x.c            |   8 +-
 src/main/drivers/accgyro_mpu.c                |  36 +-
 src/main/drivers/accgyro_mpu.h                |  12 +-
 src/main/drivers/accgyro_spi_mpu6000.c        |  16 +-
 src/main/drivers/accgyro_spi_mpu6500.c        |   2 +-
 src/main/drivers/accgyro_spi_mpu9250.c        |  64 ++--
 src/main/drivers/accgyro_spi_mpu9250.h        |   2 +-
 src/main/drivers/adc.c                        |  10 +-
 src/main/drivers/adc_stm32f10x.c              |   6 +-
 src/main/drivers/adc_stm32f30x.c              |  16 +-
 src/main/drivers/adc_stm32f4xx.c              |  26 +-
 src/main/drivers/barometer_bmp085.c           |  18 +-
 src/main/drivers/barometer_bmp085.h           |   4 +-
 src/main/drivers/barometer_bmp280.c           |  10 +-
 src/main/drivers/barometer_ms5611.c           |  12 +-
 src/main/drivers/bus_i2c_soft.c               | 310 +++++++++---------
 src/main/drivers/bus_spi.h                    |  28 +-
 src/main/drivers/compass_ak8975.c             |  24 +-
 src/main/drivers/compass_hmc5883l.c           |  20 +-
 src/main/drivers/dma_stm32f4xx.c              |   2 +-
 src/main/drivers/inverter.c                   |   6 +-
 src/main/drivers/pwm_mapping.c                |   2 +-
 src/main/drivers/pwm_mapping.h                |  14 +-
 src/main/drivers/pwm_rx.c                     |   4 +-
 src/main/drivers/serial_softserial.c          |   2 +-
 src/main/drivers/serial_uart.h                |  12 +-
 src/main/drivers/serial_uart_stm32f4xx.c      | 188 +++++------
 src/main/drivers/serial_usb_vcp.c             |  10 +-
 src/main/drivers/sonar_hcsr04.c               |   6 +-
 src/main/drivers/sound_beeper.c               |  22 +-
 src/main/drivers/sound_beeper.h               |   6 +-
 src/main/drivers/system.h                     |  14 +-
 src/main/drivers/system_stm32f4xx.c           |  34 +-
 src/main/drivers/timer.c                      |   6 +-
 src/main/main.c                               |  14 +-
 src/main/mw.c                                 |   4 +-
 .../target/ALIENFLIGHTF3/hardware_revision.c  |   4 +-
 src/main/target/CC3D/target.c                 |  52 +--
 src/main/target/CJMCU/hardware_revision.c     |   4 +-
 src/main/target/COLIBRI_RACE/target.h         |   2 +-
 src/main/target/FURYF3/target.h               |   6 +-
 src/main/target/KISSFC/target.h               |   2 +-
 src/main/target/LUX_RACE/target.c             |  12 +-
 src/main/target/REVO/target.h                 |   2 +-
 src/main/target/REVONANO/target.h             |   2 +-
 src/main/target/SPRACINGF3/target.c           |  14 +-
 src/main/target/X_RACERSPI/target.c           |  14 +-
 src/main/target/X_RACERSPI/target.mk          |   2 +-
 src/main/target/ZCOREF3/target.h              |   6 +-
 src/main/telemetry/hott.c                     |  12 +-
 src/main/vcpf4/usb_bsp.c                      |  10 +-
 src/main/vcpf4/usb_conf.h                     |   6 +-
 src/main/vcpf4/usbd_cdc_vcp.h                 |   2 +-
 src/main/vcpf4/usbd_desc.c                    |   6 +-
 57 files changed, 575 insertions(+), 575 deletions(-)

diff --git a/src/main/drivers/accgyro_bma280.c b/src/main/drivers/accgyro_bma280.c
index 866d944e3..9d0ab9206 100644
--- a/src/main/drivers/accgyro_bma280.c
+++ b/src/main/drivers/accgyro_bma280.c
@@ -40,7 +40,7 @@ bool bma280Detect(acc_t *acc)
     bool ack = false;
     uint8_t sig = 0;
 
-	ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
+    ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
     if (!ack || sig != 0xFB)
         return false;
 
@@ -51,8 +51,8 @@ bool bma280Detect(acc_t *acc)
 
 static void bma280Init(acc_t *acc)
 {
-	i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
-	i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_BW, 0x0E); // 500Hz BW
+    i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
+    i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_BW, 0x0E); // 500Hz BW
 
     acc->acc_1G = 512 * 8;
 }
@@ -61,7 +61,7 @@ static bool bma280Read(int16_t *accelData)
 {
     uint8_t buf[6];
 
-	if (!i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_ACC_X_LSB, 6, buf)) {
+    if (!i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_ACC_X_LSB, 6, buf)) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro_l3g4200d.c b/src/main/drivers/accgyro_l3g4200d.c
index 27beb9d63..33bd2f1f8 100644
--- a/src/main/drivers/accgyro_l3g4200d.c
+++ b/src/main/drivers/accgyro_l3g4200d.c
@@ -63,7 +63,7 @@ bool l3g4200dDetect(gyro_t *gyro)
 
     delay(25);
 
-	i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_WHO_AM_I, 1, &deviceid);
+    i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_WHO_AM_I, 1, &deviceid);
     if (deviceid != L3G4200D_ID)
         return false;
 
@@ -100,12 +100,12 @@ static void l3g4200dInit(uint8_t lpf)
 
     delay(100);
 
-	ack = i2cWrite(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_CTRL_REG4, L3G4200D_FS_SEL_2000DPS);
+    ack = i2cWrite(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_CTRL_REG4, L3G4200D_FS_SEL_2000DPS);
     if (!ack)
         failureMode(FAILURE_ACC_INIT);
 
     delay(5);
-	i2cWrite(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_CTRL_REG1, L3G4200D_POWER_ON | mpuLowPassFilter);
+    i2cWrite(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_CTRL_REG1, L3G4200D_POWER_ON | mpuLowPassFilter);
 }
 
 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
@@ -113,7 +113,7 @@ static bool l3g4200dRead(int16_t *gyroADC)
 {
     uint8_t buf[6];
 
-	if (!i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_AUTOINCR | L3G4200D_GYRO_OUT, 6, buf)) {
+    if (!i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_AUTOINCR | L3G4200D_GYRO_OUT, 6, buf)) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro_lsm303dlhc.c
index 505764b29..7a7222d4d 100644
--- a/src/main/drivers/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_lsm303dlhc.c
@@ -115,15 +115,15 @@ int32_t accelSummedSamples500Hz[3];
 
 void lsm303dlhcAccInit(acc_t *acc)
 {
-	i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG5_A, BOOT);
+    i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG5_A, BOOT);
 
     delay(100);
 
-	i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG1_A, ODR_1344_HZ | AXES_ENABLE);
+    i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG1_A, ODR_1344_HZ | AXES_ENABLE);
 
     delay(10);
 
-	i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG4_A, FULLSCALE_4G);
+    i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG4_A, FULLSCALE_4G);
 
     delay(100);
 
diff --git a/src/main/drivers/accgyro_mma845x.c b/src/main/drivers/accgyro_mma845x.c
index 2687c34b1..4adbe59ab 100644
--- a/src/main/drivers/accgyro_mma845x.c
+++ b/src/main/drivers/accgyro_mma845x.c
@@ -89,7 +89,7 @@ bool mma8452Detect(acc_t *acc)
     bool ack = false;
     uint8_t sig = 0;
 
-	ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
+    ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
     if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
         return false;
 
@@ -109,9 +109,9 @@ static inline void mma8451ConfigureInterrupt(void)
     IOConfigGPIO(IOGetByTag(IO_TAG(PA5)), IOCFG_IN_FLOATING);   // TODO - maybe pullup / pulldown ?
 #endif
 
-	i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
-	i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
-	i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
+    i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
+    i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
+    i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
 }
 
 static void mma8452Init(acc_t *acc)
diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index 0882581d3..63cb88ecf 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -228,43 +228,43 @@ void mpuIntExtiHandler(extiCallbackRec_t *cb)
 
 void mpuIntExtiInit(void)
 {
-	static bool mpuExtiInitDone = false;
+    static bool mpuExtiInitDone = false;
 
-	if (mpuExtiInitDone || !mpuIntExtiConfig) {
-		return;
-	}
+    if (mpuExtiInitDone || !mpuIntExtiConfig) {
+        return;
+    }
 
 #if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI)
 
-	IO_t mpuIntIO = IOGetByTag(mpuIntExtiConfig->tag);
-	
+    IO_t mpuIntIO = IOGetByTag(mpuIntExtiConfig->tag);
+    
 #ifdef ENSURE_MPU_DATA_READY_IS_LOW
-	uint8_t status = IORead(mpuIntIO);
-	if (status) {
-		return;
-	}
+    uint8_t status = IORead(mpuIntIO);
+    if (status) {
+        return;
+    }
 #endif
 
-	IOInit(mpuIntIO, OWNER_SYSTEM, RESOURCE_INPUT | RESOURCE_EXTI);
-	IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING);   // TODO - maybe pullup / pulldown ?
+    IOInit(mpuIntIO, OWNER_SYSTEM, RESOURCE_INPUT | RESOURCE_EXTI);
+    IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING);   // TODO - maybe pullup / pulldown ?
 
-	EXTIHandlerInit(&mpuIntCallbackRec, mpuIntExtiHandler);
-	EXTIConfig(mpuIntIO, &mpuIntCallbackRec, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
-	EXTIEnable(mpuIntIO, true);
+    EXTIHandlerInit(&mpuIntCallbackRec, mpuIntExtiHandler);
+    EXTIConfig(mpuIntIO, &mpuIntCallbackRec, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
+    EXTIEnable(mpuIntIO, true);
 #endif
     
-	mpuExtiInitDone = true; 
+    mpuExtiInitDone = true; 
 }
 
 static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data)
 {
-	bool ack = i2cRead(MPU_I2C_INSTANCE, MPU_ADDRESS, reg, length, data);
+    bool ack = i2cRead(MPU_I2C_INSTANCE, MPU_ADDRESS, reg, length, data);
     return ack;
 }
 
 static bool mpuWriteRegisterI2C(uint8_t reg, uint8_t data)
 {
-	bool ack = i2cWrite(MPU_I2C_INSTANCE, MPU_ADDRESS, reg, data);
+    bool ack = i2cWrite(MPU_I2C_INSTANCE, MPU_ADDRESS, reg, data);
     return ack;
 }
 
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 6dbfcebf6..15b6ee942 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -120,12 +120,12 @@ typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
 typedef void(*mpuResetFuncPtr)(void);   
 
 typedef struct mpuConfiguration_s {
-	uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
-	mpuReadRegisterFunc read;
-	mpuWriteRegisterFunc write;
-	mpuReadRegisterFunc slowread;
-	mpuWriteRegisterFunc verifywrite;
-	mpuResetFuncPtr reset;
+    uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
+    mpuReadRegisterFunc read;
+    mpuWriteRegisterFunc write;
+    mpuReadRegisterFunc slowread;
+    mpuWriteRegisterFunc verifywrite;
+    mpuResetFuncPtr reset;
 } mpuConfiguration_t;
 
 extern mpuConfiguration_t mpuConfiguration;
diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index 3d58913d0..cb78ffe10 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -49,12 +49,12 @@ static bool mpuSpi6000InitDone = false;
 
 
 // Bits
-#define BIT_SLEEP				    0x40
-#define BIT_H_RESET				    0x80
-#define BITS_CLKSEL				    0x07
-#define MPU_CLK_SEL_PLLGYROX	    0x01
-#define MPU_CLK_SEL_PLLGYROZ	    0x03
-#define MPU_EXT_SYNC_GYROX		    0x02
+#define BIT_SLEEP                   0x40
+#define BIT_H_RESET                 0x80
+#define BITS_CLKSEL                 0x07
+#define MPU_CLK_SEL_PLLGYROX        0x01
+#define MPU_CLK_SEL_PLLGYROZ        0x03
+#define MPU_EXT_SYNC_GYROX          0x02
 #define BITS_FS_250DPS              0x00
 #define BITS_FS_500DPS              0x08
 #define BITS_FS_1000DPS             0x10
@@ -74,9 +74,9 @@ static bool mpuSpi6000InitDone = false;
 #define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
 #define BITS_DLPF_CFG_MASK          0x07
 #define BIT_INT_ANYRD_2CLEAR        0x10
-#define BIT_RAW_RDY_EN			    0x01
+#define BIT_RAW_RDY_EN              0x01
 #define BIT_I2C_IF_DIS              0x10
-#define BIT_INT_STATUS_DATA		    0x01
+#define BIT_INT_STATUS_DATA         0x01
 #define BIT_GYRO                    3
 #define BIT_ACC                     2
 #define BIT_TEMP                    1
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index 4df65c19c..273179725 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -72,7 +72,7 @@ static void mpu6500SpiInit(void)
     IOInit(mpuSpi6500CsPin, OWNER_SYSTEM, RESOURCE_SPI);
     IOConfigGPIO(mpuSpi6500CsPin, SPI_IO_CS_CFG);
 
-	spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
+    spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
 
     hardwareInitialised = true;
 }
diff --git a/src/main/drivers/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro_spi_mpu9250.c
index 2bad53bf3..95c0b3f50 100644
--- a/src/main/drivers/accgyro_spi_mpu9250.c
+++ b/src/main/drivers/accgyro_spi_mpu9250.c
@@ -64,7 +64,7 @@ void mpu9250ResetGyro(void)
 
 bool mpu9250WriteRegister(uint8_t reg, uint8_t data)
 {
-	ENABLE_MPU9250;
+    ENABLE_MPU9250;
     delayMicroseconds(1);
     spiTransferByte(MPU9250_SPI_INSTANCE, reg);
     spiTransferByte(MPU9250_SPI_INSTANCE, data);
@@ -76,7 +76,7 @@ bool mpu9250WriteRegister(uint8_t reg, uint8_t data)
 
 bool mpu9250ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
 {
-	ENABLE_MPU9250;
+    ENABLE_MPU9250;
     spiTransferByte(MPU9250_SPI_INSTANCE, reg | 0x80); // read transaction
     spiTransfer(MPU9250_SPI_INSTANCE, data, NULL, length);
     DISABLE_MPU9250;
@@ -86,7 +86,7 @@ bool mpu9250ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
 
 bool mpu9250SlowReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
 {
-	ENABLE_MPU9250;
+    ENABLE_MPU9250;
     delayMicroseconds(1);
     spiTransferByte(MPU9250_SPI_INSTANCE, reg | 0x80); // read transaction
     spiTransfer(MPU9250_SPI_INSTANCE, data, NULL, length);
@@ -98,7 +98,7 @@ bool mpu9250SlowReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
 
 void mpu9250SpiGyroInit(uint8_t lpf)
 {
-	(void)(lpf);
+    (void)(lpf);
 
     mpuIntExtiInit();
 
@@ -126,55 +126,55 @@ void mpu9250SpiAccInit(acc_t *acc)
 
 bool verifympu9250WriteRegister(uint8_t reg, uint8_t data) 
 {
-	uint8_t in;
-	uint8_t attemptsRemaining = 20;
+    uint8_t in;
+    uint8_t attemptsRemaining = 20;
 
-	mpu9250WriteRegister(reg, data);
-	delayMicroseconds(100);
+    mpu9250WriteRegister(reg, data);
+    delayMicroseconds(100);
 
     do {
-    	mpu9250SlowReadRegister(reg, 1, &in);
-    	if (in == data) {
-    		return true;
-    	} else {
-    		debug[3]++;
-    		mpu9250WriteRegister(reg, data);
-    		delayMicroseconds(100);
-    	}
+        mpu9250SlowReadRegister(reg, 1, &in);
+        if (in == data) {
+            return true;
+        } else {
+            debug[3]++;
+            mpu9250WriteRegister(reg, data);
+            delayMicroseconds(100);
+        }
     } while (attemptsRemaining--);
     return false;
 }
 
 static void mpu9250AccAndGyroInit(uint8_t lpf) {
 
-	if (mpuSpi9250InitDone) {
-		return;
-	}
+    if (mpuSpi9250InitDone) {
+        return;
+    }
 
     spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); //low speed for writing to slow registers
 
     mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
-	delay(50);
+    delay(50);
 
-	verifympu9250WriteRegister(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    verifympu9250WriteRegister(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
 
-	verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED); //Fchoice_b defaults to 00 which makes fchoice 11
+    verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED); //Fchoice_b defaults to 00 which makes fchoice 11
 
     if (lpf == 4) {
-    	verifympu9250WriteRegister(MPU_RA_CONFIG, 1); //1KHz, 184DLPF
+        verifympu9250WriteRegister(MPU_RA_CONFIG, 1); //1KHz, 184DLPF
     } else if (lpf < 4) {
-    	verifympu9250WriteRegister(MPU_RA_CONFIG, 7); //8KHz, 3600DLPF
+        verifympu9250WriteRegister(MPU_RA_CONFIG, 7); //8KHz, 3600DLPF
     } else if (lpf > 4) {
-    	verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
+        verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
     }
 
-	verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+    verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
 
-	verifympu9250WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
-	verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    verifympu9250WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
+    verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
 
 #if defined(USE_MPU_DATA_READY_SIGNAL)
-	verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
+    verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
 #endif
 
     spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST); 
@@ -191,10 +191,10 @@ bool mpu9250SpiDetect(void)
 #ifdef MPU9250_CS_PIN
     mpuSpi9250CsPin = IOGetByTag(IO_TAG(MPU9250_CS_PIN));
 #endif
-	IOInit(mpuSpi9250CsPin, OWNER_SYSTEM, RESOURCE_SPI);
-	IOConfigGPIO(mpuSpi9250CsPin, SPI_IO_CS_CFG);
+    IOInit(mpuSpi9250CsPin, OWNER_SYSTEM, RESOURCE_SPI);
+    IOConfigGPIO(mpuSpi9250CsPin, SPI_IO_CS_CFG);
         
-	spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); //low speed
+    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); //low speed
     mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
 
     do {
diff --git a/src/main/drivers/accgyro_spi_mpu9250.h b/src/main/drivers/accgyro_spi_mpu9250.h
index 521cefdf2..1af293288 100644
--- a/src/main/drivers/accgyro_spi_mpu9250.h
+++ b/src/main/drivers/accgyro_spi_mpu9250.h
@@ -1,7 +1,7 @@
 
 #pragma once
 
-#define mpu9250_CONFIG		    	0x1A
+#define mpu9250_CONFIG                      0x1A
 
 /* We should probably use these. :)
 #define BITS_DLPF_CFG_256HZ         0x00
diff --git a/src/main/drivers/adc.c b/src/main/drivers/adc.c
index 46f987dfc..d214b49d3 100644
--- a/src/main/drivers/adc.c
+++ b/src/main/drivers/adc.c
@@ -35,11 +35,11 @@ volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
 
 uint8_t adcChannelByTag(ioTag_t ioTag)
 {
-	for (uint8_t i = 0; i < ARRAYLEN(adcTagMap); i++) {
-		if (ioTag == adcTagMap[i].tag)
-			return adcTagMap[i].channel;
-	}
-	return 0;    
+    for (uint8_t i = 0; i < ARRAYLEN(adcTagMap); i++) {
+        if (ioTag == adcTagMap[i].tag)
+            return adcTagMap[i].channel;
+    }
+    return 0;    
 }
 
 uint16_t adcGetChannel(uint8_t channel)
diff --git a/src/main/drivers/adc_stm32f10x.c b/src/main/drivers/adc_stm32f10x.c
index b082388fe..a810ac731 100644
--- a/src/main/drivers/adc_stm32f10x.c
+++ b/src/main/drivers/adc_stm32f10x.c
@@ -81,7 +81,7 @@ void adcInit(drv_adc_config_t *init)
 {
     
 #if !defined(VBAT_ADC_PIN) && !defined(EXTERNAL1_ADC_PIN) && !defined(RSSI_ADC_PIN) && !defined(CURRENT_METER_ADC_PIN)
-	UNUSED(init);
+    UNUSED(init);
 #endif
 
     uint8_t i;
@@ -114,7 +114,7 @@ void adcInit(drv_adc_config_t *init)
 #ifdef EXTERNAL1_ADC_PIN
     if (init->enableExternal1) {
         IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
+        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
         adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN));
         adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_EXTERNAL1].enabled = true;
@@ -125,7 +125,7 @@ void adcInit(drv_adc_config_t *init)
 #ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
         IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
+        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
         adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));
         adcConfig[ADC_CURRENT].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_CURRENT].enabled = true;
diff --git a/src/main/drivers/adc_stm32f30x.c b/src/main/drivers/adc_stm32f30x.c
index dc9c98ee5..8c2ccba5e 100644
--- a/src/main/drivers/adc_stm32f30x.c
+++ b/src/main/drivers/adc_stm32f30x.c
@@ -107,8 +107,8 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef VBAT_ADC_PIN
     if (init->enableVBat) {
-	    IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
 
         adcConfig[ADC_BATTERY].adcChannel = adcChannelByTag(IO_TAG(VBAT_ADC_PIN));
         adcConfig[ADC_BATTERY].dmaIndex = adcChannelCount;
@@ -120,8 +120,8 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
-	    IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
 
         adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));
         adcConfig[ADC_RSSI].dmaIndex = adcChannelCount;
@@ -133,8 +133,8 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef CURRENT_METER_ADC_GPIO
     if (init->enableCurrentMeter) {
-	    IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
 
         adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));
         adcConfig[ADC_CURRENT].dmaIndex = adcChannelCount;
@@ -146,8 +146,8 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef EXTERNAL1_ADC_GPIO
     if (init->enableExternal1) {
-	    IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
 
         adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN));
         adcConfig[ADC_EXTERNAL1].dmaIndex = adcChannelCount;
diff --git a/src/main/drivers/adc_stm32f4xx.c b/src/main/drivers/adc_stm32f4xx.c
index 90ca22d12..e4c086a60 100644
--- a/src/main/drivers/adc_stm32f4xx.c
+++ b/src/main/drivers/adc_stm32f4xx.c
@@ -39,8 +39,8 @@
 #endif
 
 const adcDevice_t adcHardware[] = { 
-	{ .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 },  
-	//{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 }  
+    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 },  
+    //{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 }  
 };
 
 /* note these could be packed up for saving space */
@@ -75,13 +75,13 @@ const adcTagMap_t adcTagMap[] = {
 
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 {
-	if (instance == ADC1) 
-		return ADCDEV_1;
+    if (instance == ADC1) 
+        return ADCDEV_1;
 /*
-	if (instance == ADC2) // TODO add ADC2 and 3
-		return ADCDEV_2;
+    if (instance == ADC2) // TODO add ADC2 and 3
+        return ADCDEV_2;
 */
-	return ADCINVALID;
+    return ADCINVALID;
 }
 
 void adcInit(drv_adc_config_t *init)
@@ -112,7 +112,7 @@ void adcInit(drv_adc_config_t *init)
 #ifdef EXTERNAL1_ADC_PIN
     if (init->enableExternal1) {
         IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
         adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN)); //EXTERNAL1_ADC_CHANNEL;
         adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_EXTERNAL1].enabled = true;
@@ -123,7 +123,7 @@ void adcInit(drv_adc_config_t *init)
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
         IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
         adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));  //RSSI_ADC_CHANNEL;
         adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_RSSI].enabled = true;
@@ -134,7 +134,7 @@ void adcInit(drv_adc_config_t *init)
 #ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
         IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-	    IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
         adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));  //CURRENT_METER_ADC_CHANNEL;
         adcConfig[ADC_CURRENT].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_CURRENT].enabled = true;
@@ -184,11 +184,11 @@ void adcInit(drv_adc_config_t *init)
 
     ADC_InitStructure.ADC_ContinuousConvMode    = ENABLE;
     ADC_InitStructure.ADC_Resolution            = ADC_Resolution_12b;
-    ADC_InitStructure.ADC_ExternalTrigConv 		= ADC_ExternalTrigConv_T1_CC1;
-    ADC_InitStructure.ADC_ExternalTrigConvEdge 	= ADC_ExternalTrigConvEdge_None;
+    ADC_InitStructure.ADC_ExternalTrigConv         = ADC_ExternalTrigConv_T1_CC1;
+    ADC_InitStructure.ADC_ExternalTrigConvEdge     = ADC_ExternalTrigConvEdge_None;
     ADC_InitStructure.ADC_DataAlign             = ADC_DataAlign_Right;
     ADC_InitStructure.ADC_NbrOfConversion       = configuredAdcChannels;
-    ADC_InitStructure.ADC_ScanConvMode 			= configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
+    ADC_InitStructure.ADC_ScanConvMode             = configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
 
     ADC_Init(adc.ADCx, &ADC_InitStructure);
 
diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c
index a746500b5..34a01cd38 100644
--- a/src/main/drivers/barometer_bmp085.c
+++ b/src/main/drivers/barometer_bmp085.c
@@ -45,8 +45,8 @@ static bool isEOCConnected = true;
 // EXTI14 for BMP085 End of Conversion Interrupt
 void bmp085_extiHandler(extiCallbackRec_t* cb)
 {
-	UNUSED(cb);
-	isConversionComplete = true;
+    UNUSED(cb);
+    isConversionComplete = true;
 }
 
 bool bmp085TestEOCConnected(const bmp085Config_t *config); 
@@ -184,13 +184,13 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
 
     delay(20); // datasheet says 10ms, we'll be careful and do 20.
 
-	ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */ 
+    ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */ 
     if (ack) {
         bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
         bmp085.oversampling_setting = 3;
 
         if (bmp085.chip_id == BMP085_CHIP_ID) { /* get bitslice */
-	        i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_VERSION_REG, 1, &data); /* read Version reg */
+            i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_VERSION_REG, 1, &data); /* read Version reg */
             bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */
             bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
             bmp085_get_cal_param(); /* readout bmp085 calibparam structure */
@@ -277,7 +277,7 @@ static void bmp085_start_ut(void)
 #if defined(BARO_EOC_GPIO)
     isConversionComplete = false;
 #endif
-	i2cWrite(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
+    i2cWrite(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
 }
 
 static void bmp085_get_ut(void)
@@ -291,7 +291,7 @@ static void bmp085_get_ut(void)
     }
 #endif
 
-	i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 2, data);
+    i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 2, data);
     bmp085_ut = (data[0] << 8) | data[1];
 }
 
@@ -305,7 +305,7 @@ static void bmp085_start_up(void)
     isConversionComplete = false;
 #endif
 
-	i2cWrite(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CTRL_MEAS_REG, ctrl_reg_data);
+    i2cWrite(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CTRL_MEAS_REG, ctrl_reg_data);
 }
 
 /** read out up for pressure conversion
@@ -323,7 +323,7 @@ static void bmp085_get_up(void)
     }
 #endif
 
-	i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 3, data);
+    i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 3, data);
     bmp085_up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2])
             >> (8 - bmp085.oversampling_setting);
 }
@@ -343,7 +343,7 @@ STATIC_UNIT_TESTED void bmp085_calculate(int32_t *pressure, int32_t *temperature
 static void bmp085_get_cal_param(void)
 {
     uint8_t data[22];
-	i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_PROM_START__ADDR, BMP085_PROM_DATA__LEN, data);
+    i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_PROM_START__ADDR, BMP085_PROM_DATA__LEN, data);
 
     /*parameters AC1-AC6*/
     bmp085.cal_param.ac1 = (data[0] << 8) | data[1];
diff --git a/src/main/drivers/barometer_bmp085.h b/src/main/drivers/barometer_bmp085.h
index dafb03a81..328bffb13 100644
--- a/src/main/drivers/barometer_bmp085.h
+++ b/src/main/drivers/barometer_bmp085.h
@@ -18,8 +18,8 @@
 #pragma once
 
 typedef struct bmp085Config_s {
-	ioTag_t xclrIO;
-	ioTag_t eocIO; 
+    ioTag_t xclrIO;
+    ioTag_t eocIO; 
 } bmp085Config_t;
 
 bool bmp085Detect(const bmp085Config_t *config, baro_t *baro);
diff --git a/src/main/drivers/barometer_bmp280.c b/src/main/drivers/barometer_bmp280.c
index cf7e60a81..6d4245848 100644
--- a/src/main/drivers/barometer_bmp280.c
+++ b/src/main/drivers/barometer_bmp280.c
@@ -83,14 +83,14 @@ bool bmp280Detect(baro_t *baro)
     // set oversampling + power mode (forced), and start sampling
     bmp280WriteRegister(BMP280_CTRL_MEAS_REG, BMP280_MODE);
 #else
-	i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id);  /* read Chip Id */
+    i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id);  /* read Chip Id */
     if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID)
         return false;
 
     // read calibration
-	i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
+    i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
     // set oversampling + power mode (forced), and start sampling
-	i2cWrite(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
+    i2cWrite(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
 #endif
 
     bmp280InitDone = true;
@@ -129,7 +129,7 @@ static void bmp280_start_up(void)
 {
     // start measurement
     // set oversampling + power mode (forced), and start sampling
-	i2cWrite(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
+    i2cWrite(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
 }
 
 static void bmp280_get_up(void)
@@ -137,7 +137,7 @@ static void bmp280_get_up(void)
     uint8_t data[BMP280_DATA_FRAME_SIZE];
 
     // read data from sensor
-	i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, data);
+    i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, data);
     bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
     bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
 }
diff --git a/src/main/drivers/barometer_ms5611.c b/src/main/drivers/barometer_ms5611.c
index 577146e2d..468f86046 100644
--- a/src/main/drivers/barometer_ms5611.c
+++ b/src/main/drivers/barometer_ms5611.c
@@ -67,7 +67,7 @@ bool ms5611Detect(baro_t *baro)
 
     delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms
 
-	ack = i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_PROM_RD, 1, &sig);
+    ack = i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_PROM_RD, 1, &sig);
     if (!ack)
         return false;
 
@@ -93,14 +93,14 @@ bool ms5611Detect(baro_t *baro)
 
 static void ms5611_reset(void)
 {
-	i2cWrite(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_RESET, 1);
+    i2cWrite(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_RESET, 1);
     delayMicroseconds(2800);
 }
 
 static uint16_t ms5611_prom(int8_t coef_num)
 {
     uint8_t rxbuf[2] = { 0, 0 };
-	i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_PROM_RD + coef_num * 2, 2, rxbuf); // send PROM READ command
+    i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_PROM_RD + coef_num * 2, 2, rxbuf); // send PROM READ command
     return rxbuf[0] << 8 | rxbuf[1];
 }
 
@@ -137,13 +137,13 @@ STATIC_UNIT_TESTED int8_t ms5611_crc(uint16_t *prom)
 static uint32_t ms5611_read_adc(void)
 {
     uint8_t rxbuf[3];
-	i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_ADC_READ, 3, rxbuf); // read ADC
+    i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_ADC_READ, 3, rxbuf); // read ADC
     return (rxbuf[0] << 16) | (rxbuf[1] << 8) | rxbuf[2];
 }
 
 static void ms5611_start_ut(void)
 {
-	i2cWrite(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_ADC_CONV + CMD_ADC_D2 + ms5611_osr, 1); // D2 (temperature) conversion start!
+    i2cWrite(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_ADC_CONV + CMD_ADC_D2 + ms5611_osr, 1); // D2 (temperature) conversion start!
 }
 
 static void ms5611_get_ut(void)
@@ -153,7 +153,7 @@ static void ms5611_get_ut(void)
 
 static void ms5611_start_up(void)
 {
-	i2cWrite(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_ADC_CONV + CMD_ADC_D1 + ms5611_osr, 1); // D1 (pressure) conversion start!
+    i2cWrite(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_ADC_CONV + CMD_ADC_D1 + ms5611_osr, 1); // D1 (pressure) conversion start!
 }
 
 static void ms5611_get_up(void)
diff --git a/src/main/drivers/bus_i2c_soft.c b/src/main/drivers/bus_i2c_soft.c
index edf9e6d72..cac5c6221 100644
--- a/src/main/drivers/bus_i2c_soft.c
+++ b/src/main/drivers/bus_i2c_soft.c
@@ -48,218 +48,218 @@ static volatile uint16_t i2cErrorCount = 0;
 
 static void I2C_delay(void)
 {
-	volatile int i = 7;
-	while (i) {
-		i--;
-	}
+    volatile int i = 7;
+    while (i) {
+        i--;
+    }
 }
 
 static bool I2C_Start(void)
 {
-	SDA_H;
-	SCL_H;
-	I2C_delay();
-	if (!SDA_read) {
-		return false;
-	}
-	SDA_L;
-	I2C_delay();
-	if (SDA_read) {
-		return false;
-	}
-	SDA_L;
-	I2C_delay();
-	return true;
+    SDA_H;
+    SCL_H;
+    I2C_delay();
+    if (!SDA_read) {
+        return false;
+    }
+    SDA_L;
+    I2C_delay();
+    if (SDA_read) {
+        return false;
+    }
+    SDA_L;
+    I2C_delay();
+    return true;
 }
 
 static void I2C_Stop(void)
 {
-	SCL_L;
-	I2C_delay();
-	SDA_L;
-	I2C_delay();
-	SCL_H;
-	I2C_delay();
-	SDA_H;
-	I2C_delay();
+    SCL_L;
+    I2C_delay();
+    SDA_L;
+    I2C_delay();
+    SCL_H;
+    I2C_delay();
+    SDA_H;
+    I2C_delay();
 }
 
 static void I2C_Ack(void)
 {
-	SCL_L;
-	I2C_delay();
-	SDA_L;
-	I2C_delay();
-	SCL_H;
-	I2C_delay();
-	SCL_L;
-	I2C_delay();
+    SCL_L;
+    I2C_delay();
+    SDA_L;
+    I2C_delay();
+    SCL_H;
+    I2C_delay();
+    SCL_L;
+    I2C_delay();
 }
 
 static void I2C_NoAck(void)
 {
-	SCL_L;
-	I2C_delay();
-	SDA_H;
-	I2C_delay();
-	SCL_H;
-	I2C_delay();
-	SCL_L;
-	I2C_delay();
+    SCL_L;
+    I2C_delay();
+    SDA_H;
+    I2C_delay();
+    SCL_H;
+    I2C_delay();
+    SCL_L;
+    I2C_delay();
 }
 
 static bool I2C_WaitAck(void)
 {
-	SCL_L;
-	I2C_delay();
-	SDA_H;
-	I2C_delay();
-	SCL_H;
-	I2C_delay();
-	if (SDA_read) {
-		SCL_L;
-		return false;
-	}
-	SCL_L;
-	return true;
+    SCL_L;
+    I2C_delay();
+    SDA_H;
+    I2C_delay();
+    SCL_H;
+    I2C_delay();
+    if (SDA_read) {
+        SCL_L;
+        return false;
+    }
+    SCL_L;
+    return true;
 }
 
 static void I2C_SendByte(uint8_t byte)
 {
-	uint8_t i = 8;
-	while (i--) {
-		SCL_L;
-		I2C_delay();
-		if (byte & 0x80) {
-			SDA_H;
-		}
-		else {
-			SDA_L;
-		}
-		byte <<= 1;
-		I2C_delay();
-		SCL_H;
-		I2C_delay();
-	}
-	SCL_L;
+    uint8_t i = 8;
+    while (i--) {
+        SCL_L;
+        I2C_delay();
+        if (byte & 0x80) {
+            SDA_H;
+        }
+        else {
+            SDA_L;
+        }
+        byte <<= 1;
+        I2C_delay();
+        SCL_H;
+        I2C_delay();
+    }
+    SCL_L;
 }
 
 static uint8_t I2C_ReceiveByte(void)
 {
-	uint8_t i = 8;
-	uint8_t byte = 0;
+    uint8_t i = 8;
+    uint8_t byte = 0;
 
-	SDA_H;
-	while (i--) {
-		byte <<= 1;
-		SCL_L;
-		I2C_delay();
-		SCL_H;
-		I2C_delay();
-		if (SDA_read) {
-			byte |= 0x01;
-		}
-	}
-	SCL_L;
-	return byte;
+    SDA_H;
+    while (i--) {
+        byte <<= 1;
+        SCL_L;
+        I2C_delay();
+        SCL_H;
+        I2C_delay();
+        if (SDA_read) {
+            byte |= 0x01;
+        }
+    }
+    SCL_L;
+    return byte;
 }
 
 void i2cInit(I2CDevice device)
 {
-	UNUSED(device);
+    UNUSED(device);
 
-	scl = IOGetByTag(IO_TAG(SOFT_I2C_SCL));
-	sda = IOGetByTag(IO_TAG(SOFT_I2C_SDA));
+    scl = IOGetByTag(IO_TAG(SOFT_I2C_SCL));
+    sda = IOGetByTag(IO_TAG(SOFT_I2C_SDA));
 
-	IOConfigGPIO(scl, IOCFG_OUT_OD);
-	IOConfigGPIO(sda, IOCFG_OUT_OD);
+    IOConfigGPIO(scl, IOCFG_OUT_OD);
+    IOConfigGPIO(sda, IOCFG_OUT_OD);
 }
 
 bool i2cWriteBuffer(I2CDevice device, uint8_t addr, uint8_t reg, uint8_t len, uint8_t * data)
 {
     UNUSED(device);
     
-	int i;
-	if (!I2C_Start()) {
-		i2cErrorCount++;
-		return false;
-	}
-	I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
-	if (!I2C_WaitAck()) {
-		I2C_Stop();
-		return false;
-	}
-	I2C_SendByte(reg);
-	I2C_WaitAck();
-	for (i = 0; i < len; i++) {
-		I2C_SendByte(data[i]);
-		if (!I2C_WaitAck()) {
-			I2C_Stop();
-			i2cErrorCount++;
-			return false;
-		}
-	}
-	I2C_Stop();
-	return true;
+    int i;
+    if (!I2C_Start()) {
+        i2cErrorCount++;
+        return false;
+    }
+    I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
+    if (!I2C_WaitAck()) {
+        I2C_Stop();
+        return false;
+    }
+    I2C_SendByte(reg);
+    I2C_WaitAck();
+    for (i = 0; i < len; i++) {
+        I2C_SendByte(data[i]);
+        if (!I2C_WaitAck()) {
+            I2C_Stop();
+            i2cErrorCount++;
+            return false;
+        }
+    }
+    I2C_Stop();
+    return true;
 }
 
 bool i2cWrite(I2CDevice device, uint8_t addr, uint8_t reg, uint8_t data)
 {
     UNUSED(device);
     
-	if (!I2C_Start()) {
-		return false;
-	}
-	I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
-	if (!I2C_WaitAck()) {
-		I2C_Stop();
-		i2cErrorCount++;
-		return false;
-	}
-	I2C_SendByte(reg);
-	I2C_WaitAck();
-	I2C_SendByte(data);
-	I2C_WaitAck();
-	I2C_Stop();
-	return true;
+    if (!I2C_Start()) {
+        return false;
+    }
+    I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
+    if (!I2C_WaitAck()) {
+        I2C_Stop();
+        i2cErrorCount++;
+        return false;
+    }
+    I2C_SendByte(reg);
+    I2C_WaitAck();
+    I2C_SendByte(data);
+    I2C_WaitAck();
+    I2C_Stop();
+    return true;
 }
 
 bool i2cRead(I2CDevice device, uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
 {
     UNUSED(device);
     
-	if (!I2C_Start()) {
-		return false;
-	}
-	I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
-	if (!I2C_WaitAck()) {
-		I2C_Stop();
-		i2cErrorCount++;
-		return false;
-	}
-	I2C_SendByte(reg);
-	I2C_WaitAck();
-	I2C_Start();
-	I2C_SendByte(addr << 1 | I2C_Direction_Receiver);
-	I2C_WaitAck();
-	while (len) {
-		*buf = I2C_ReceiveByte();
-		if (len == 1) {
-			I2C_NoAck();
-		}
-		else {
-			I2C_Ack();
-		}
-		buf++;
-		len--;
-	}
-	I2C_Stop();
-	return true;
+    if (!I2C_Start()) {
+        return false;
+    }
+    I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
+    if (!I2C_WaitAck()) {
+        I2C_Stop();
+        i2cErrorCount++;
+        return false;
+    }
+    I2C_SendByte(reg);
+    I2C_WaitAck();
+    I2C_Start();
+    I2C_SendByte(addr << 1 | I2C_Direction_Receiver);
+    I2C_WaitAck();
+    while (len) {
+        *buf = I2C_ReceiveByte();
+        if (len == 1) {
+            I2C_NoAck();
+        }
+        else {
+            I2C_Ack();
+        }
+        buf++;
+        len--;
+    }
+    I2C_Stop();
+    return true;
 }
 
 uint16_t i2cGetErrorCounter(void)
 {
-	return i2cErrorCount;
+    return i2cErrorCount;
 }
 
 #endif
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index d408eac2f..019080d96 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -52,23 +52,23 @@ typedef enum {
 } SPIClockDivider_e;
 
 typedef enum SPIDevice {
-	SPIINVALID = -1,
-	SPIDEV_1   = 0,
-	SPIDEV_2,
-	SPIDEV_3,
-	SPIDEV_MAX = SPIDEV_3,
+    SPIINVALID = -1,
+    SPIDEV_1   = 0,
+    SPIDEV_2,
+    SPIDEV_3,
+    SPIDEV_MAX = SPIDEV_3,
 } SPIDevice;
 
 typedef struct SPIDevice_s {
-	SPI_TypeDef *dev;
-	ioTag_t nss;
-	ioTag_t sck;
-	ioTag_t mosi;
-	ioTag_t miso;
-	rccPeriphTag_t rcc;
-	uint8_t af;
-	volatile uint16_t errorCount;
-	bool sdcard;
+    SPI_TypeDef *dev;
+    ioTag_t nss;
+    ioTag_t sck;
+    ioTag_t mosi;
+    ioTag_t miso;
+    rccPeriphTag_t rcc;
+    uint8_t af;
+    volatile uint16_t errorCount;
+    bool sdcard;
 } spiDevice_t;
 
 bool spiInit(SPIDevice device);
diff --git a/src/main/drivers/compass_ak8975.c b/src/main/drivers/compass_ak8975.c
index 386a06e7d..c35db1d1f 100644
--- a/src/main/drivers/compass_ak8975.c
+++ b/src/main/drivers/compass_ak8975.c
@@ -64,7 +64,7 @@ bool ak8975detect(mag_t *mag)
     bool ack = false;
     uint8_t sig = 0;
 
-	ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_WHO_AM_I, 1, &sig);
+    ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_WHO_AM_I, 1, &sig);
     if (!ack || sig != 'H') // 0x48 / 01001000 / 'H'
         return false;
 
@@ -86,24 +86,24 @@ void ak8975Init()
 
     UNUSED(ack);
 
-	ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x00); // power down before entering fuse mode
+    ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x00); // power down before entering fuse mode
     delay(20);
 
-	ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x0F); // Enter Fuse ROM access mode
+    ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x0F); // Enter Fuse ROM access mode
     delay(10);
 
-	ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975A_ASAX, 3, &buffer[0]); // Read the x-, y-, and z-axis calibration values
+    ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975A_ASAX, 3, &buffer[0]); // Read the x-, y-, and z-axis calibration values
     delay(10);
 
-	ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x00); // power down after reading.
+    ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x00); // power down after reading.
     delay(10);
 
     // Clear status registers
-	ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS1, 1, &status);
-	ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS2, 1, &status);
+    ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS1, 1, &status);
+    ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS2, 1, &status);
 
     // Trigger first measurement
-	ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x01);
+    ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x01);
 }
 
 #define BIT_STATUS1_REG_DATA_READY              (1 << 0)
@@ -118,13 +118,13 @@ bool ak8975Read(int16_t *magData)
     uint8_t status;
     uint8_t buf[6];
 
-	ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS1, 1, &status);
+    ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS1, 1, &status);
     if (!ack || (status & BIT_STATUS1_REG_DATA_READY) == 0) {
         return false;
     }
 
 #if 1 // USE_I2C_SINGLE_BYTE_READS
-	ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_HXL, 6, buf); // read from AK8975_MAG_REG_HXL to AK8975_MAG_REG_HZH
+    ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_HXL, 6, buf); // read from AK8975_MAG_REG_HXL to AK8975_MAG_REG_HZH
 #else
     for (uint8_t i = 0; i < 6; i++) {
         ack = i2cRead(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_HXL + i, 1, &buf[i]); // read from AK8975_MAG_REG_HXL to AK8975_MAG_REG_HZH
@@ -134,7 +134,7 @@ bool ak8975Read(int16_t *magData)
     }
 #endif
 
-	ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS2, 1, &status);
+    ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS2, 1, &status);
     if (!ack) {
         return false;
     }
@@ -152,6 +152,6 @@ bool ak8975Read(int16_t *magData)
     magData[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * 4;
 
 
-	ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x01); // start reading again
+    ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x01); // start reading again
     return true;
 }
diff --git a/src/main/drivers/compass_hmc5883l.c b/src/main/drivers/compass_hmc5883l.c
index 4e59c375b..a018ab0f5 100644
--- a/src/main/drivers/compass_hmc5883l.c
+++ b/src/main/drivers/compass_hmc5883l.c
@@ -204,7 +204,7 @@ bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse)
 
     hmc5883Config = hmc5883ConfigToUse;
 
-	ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, 0x0A, 1, &sig);
+    ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, 0x0A, 1, &sig);
     if (!ack || sig != 'H')
         return false;
 
@@ -241,15 +241,15 @@ void hmc5883lInit(void)
     }
 
     delay(50);
-	i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
+    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
     // Note that the  very first measurement after a gain change maintains the same gain as the previous setting.
     // The new gain setting is effective from the second measurement and on.
-	i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
+    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
     delay(100);
     hmc5883lRead(magADC);
 
     for (i = 0; i < 10; i++) {  // Collect 10 samples
-	    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
+        i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
         delay(50);
         hmc5883lRead(magADC);       // Get the raw values in case the scales have already been changed.
 
@@ -267,9 +267,9 @@ void hmc5883lInit(void)
     }
 
     // Apply the negative bias. (Same gain)
-	i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
+    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
     for (i = 0; i < 10; i++) {
-	    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
+        i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
         delay(50);
         hmc5883lRead(magADC);               // Get the raw values in case the scales have already been changed.
 
@@ -291,9 +291,9 @@ void hmc5883lInit(void)
     magGain[Z] = fabsf(660.0f * HMC58X3_Z_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Z]);
 
     // leave test mode
-	i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x70);   // Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode
-	i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x20);   // Configuration Register B  -- 001 00000    configuration gain 1.3Ga
-	i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 0x00);    // Mode register             -- 000000 00    continuous Conversion Mode
+    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x70);   // Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode
+    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x20);   // Configuration Register B  -- 001 00000    configuration gain 1.3Ga
+    i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 0x00);    // Mode register             -- 000000 00    continuous Conversion Mode
     delay(100);
 
     if (!bret) {                // Something went wrong so get a best guess
@@ -309,7 +309,7 @@ bool hmc5883lRead(int16_t *magData)
 {
     uint8_t buf[6];
 
-	bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
+    bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
     if (!ack) {
         return false;
     }
diff --git a/src/main/drivers/dma_stm32f4xx.c b/src/main/drivers/dma_stm32f4xx.c
index 6b49fe629..fefbae280 100644
--- a/src/main/drivers/dma_stm32f4xx.c
+++ b/src/main/drivers/dma_stm32f4xx.c
@@ -32,7 +32,7 @@ static dmaHandlers_t dmaHandlers;
 
 void dmaNoOpHandler(DMA_Stream_TypeDef *stream)
 {
-	UNUSED(stream);
+    UNUSED(stream);
 }
 
 void DMA1_Stream2_IRQHandler(void)
diff --git a/src/main/drivers/inverter.c b/src/main/drivers/inverter.c
index 82ce8b099..e0231ddb7 100644
--- a/src/main/drivers/inverter.c
+++ b/src/main/drivers/inverter.c
@@ -31,15 +31,15 @@ static const IO_t pin = DEFIO_IO(INVERTER);
 
 void initInverter(void)
 {
-	IOInit(pin, OWNER_SYSTEM, RESOURCE_OUTPUT);
-	IOConfigGPIO(pin, IOCFG_OUT_PP);
+    IOInit(pin, OWNER_SYSTEM, RESOURCE_OUTPUT);
+    IOConfigGPIO(pin, IOCFG_OUT_PP);
     
     inverterSet(false);
 }
 
 void inverterSet(bool on)
 {
-	IOWrite(pin, on);
+    IOWrite(pin, on);
 }
 
 #endif
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 50061fb79..8d332ba56 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -306,7 +306,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 
         if (type == MAP_TO_PPM_INPUT) {
 #if defined(SPARKY) || defined(ALIENFLIGHTF3)
-	        if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
+            if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
                 ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
             }
 #endif
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 2212153cd..5d577af8e 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -78,19 +78,19 @@ typedef struct drv_pwm_config_s {
 } drv_pwm_config_t;
 
 enum {
-    MAP_TO_PPM_INPUT    = 1,
+    MAP_TO_PPM_INPUT = 1,
     MAP_TO_PWM_INPUT,
     MAP_TO_MOTOR_OUTPUT,
     MAP_TO_SERVO_OUTPUT,
 };
 
 typedef enum {
-  PWM_PF_NONE = 0,
-  PWM_PF_MOTOR = (1 << 0),
-  PWM_PF_SERVO = (1 << 1),
-  PWM_PF_MOTOR_MODE_BRUSHED = (1 << 2),
-  PWM_PF_OUTPUT_PROTOCOL_PWM = (1 << 3),
-  PWM_PF_OUTPUT_PROTOCOL_ONESHOT = (1 << 4)
+    PWM_PF_NONE = 0,
+    PWM_PF_MOTOR = (1 << 0),
+    PWM_PF_SERVO = (1 << 1),
+    PWM_PF_MOTOR_MODE_BRUSHED = (1 << 2),
+    PWM_PF_OUTPUT_PROTOCOL_PWM = (1 << 3),
+    PWM_PF_OUTPUT_PROTOCOL_ONESHOT = (1 << 4)
 } pwmPortFlags_e;
 
 enum {PWM_INVERTED = 1};
diff --git a/src/main/drivers/pwm_rx.c b/src/main/drivers/pwm_rx.c
index 9452a89ea..856613d2b 100644
--- a/src/main/drivers/pwm_rx.c
+++ b/src/main/drivers/pwm_rx.c
@@ -339,8 +339,8 @@ static void pwmEdgeCallback(timerCCHandlerRec_t *cbRec, captureCompare_t capture
 
 static void pwmGPIOConfig(ioTag_t pin, ioConfig_t mode)
 {
-	IOInit(IOGetByTag(pin), OWNER_PWMINPUT, RESOURCE_INPUT);
-	IOConfigGPIO(IOGetByTag(pin), mode);
+    IOInit(IOGetByTag(pin), OWNER_PWMINPUT, RESOURCE_INPUT);
+    IOConfigGPIO(IOGetByTag(pin), mode);
 }
 
 void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index a2ad403b2..da2c03268 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -96,7 +96,7 @@ void setTxSignal(softSerial_t *softSerial, uint8_t state)
     if (state) {
         IOHi(softSerial->txIO);
     } else {
-	    IOLo(softSerial->txIO);
+        IOLo(softSerial->txIO);
     }
 }
 
diff --git a/src/main/drivers/serial_uart.h b/src/main/drivers/serial_uart.h
index a332edebf..33dde3216 100644
--- a/src/main/drivers/serial_uart.h
+++ b/src/main/drivers/serial_uart.h
@@ -40,13 +40,13 @@ typedef struct {
     serialPort_t port;
 
 #ifdef STM32F4
-	DMA_Stream_TypeDef *rxDMAStream;
-	DMA_Stream_TypeDef *txDMAStream;
-	uint32_t rxDMAChannel;
-	uint32_t txDMAChannel;
+    DMA_Stream_TypeDef *rxDMAStream;
+    DMA_Stream_TypeDef *txDMAStream;
+    uint32_t rxDMAChannel;
+    uint32_t txDMAChannel;
 #else
-	DMA_Channel_TypeDef *rxDMAChannel;
-	DMA_Channel_TypeDef *txDMAChannel;
+    DMA_Channel_TypeDef *rxDMAChannel;
+    DMA_Channel_TypeDef *txDMAChannel;
 #endif
 
     uint32_t rxDMAIrq;
diff --git a/src/main/drivers/serial_uart_stm32f4xx.c b/src/main/drivers/serial_uart_stm32f4xx.c
index 71b112e36..f5bba8469 100644
--- a/src/main/drivers/serial_uart_stm32f4xx.c
+++ b/src/main/drivers/serial_uart_stm32f4xx.c
@@ -365,22 +365,22 @@ void DMA2_Stream7_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_1]->port);
     if(DMA_GetITStatus(s->txDMAStream,DMA_IT_TCIF7))
     {
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF7);
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF7);
-		if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF7)==SET)
-		{
-			DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF7);
-		}
-		handleUsartTxDma(s);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF7);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF7);
+        if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF7)==SET)
+        {
+            DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF7);
+        }
+        handleUsartTxDma(s);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF7)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF7);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF7)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF7);
     }
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF7)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF7);
-	}
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF7)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF7);
-	}
 }
 
 // USART1 Rx/Tx IRQ Handler
@@ -402,30 +402,30 @@ uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode, portOptions_t optio
 void DMA1_Stream6_IRQHandler(void)
 {
     uartPort_t *s = &(uartHardwareMap[UARTDEV_2]->port);
-	if(DMA_GetITStatus(s->txDMAStream,DMA_IT_TCIF6))
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF6);
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF6);
-		if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF6)==SET)
-		{
-			DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF6);
-		}
-		handleUsartTxDma(s);
-	}
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF6)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF6);
-	}
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF6)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF6);
-	}
+    if(DMA_GetITStatus(s->txDMAStream,DMA_IT_TCIF6))
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF6);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF6);
+        if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF6)==SET)
+        {
+            DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF6);
+        }
+        handleUsartTxDma(s);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF6)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF6);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF6)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF6);
+    }
 }
 
 void USART2_IRQHandler(void)
 {
     uartPort_t *s = &(uartHardwareMap[UARTDEV_2]->port);
-	usartIrqHandler(s);
+    usartIrqHandler(s);
 }
 #endif
 
@@ -442,22 +442,22 @@ void DMA1_Stream3_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_3]->port);
     if(DMA_GetITStatus(s->txDMAStream,DMA_IT_TCIF3))
     {
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF3);
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF3);
-		if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF3)==SET)
-		{
-			DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF3);
-		}
-		handleUsartTxDma(s);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF3);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF3);
+        if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF3)==SET)
+        {
+            DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF3);
+        }
+        handleUsartTxDma(s);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF3)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF3);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF3)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF3);
     }
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF3)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF3);
-	}
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF3)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF3);
-	}
 }
 
 void USART3_IRQHandler(void)
@@ -480,22 +480,22 @@ void DMA1_Stream4_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_4]->port);
     if(DMA_GetITStatus(s->txDMAStream,DMA_IT_TCIF4))
     {
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF4);
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF4);
-		if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF4)==SET)
-		{
-			DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF4);
-		}
-		handleUsartTxDma(s);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF4);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF4);
+        if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF4)==SET)
+        {
+            DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF4);
+        }
+        handleUsartTxDma(s);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF4)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF4);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF4)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF4);
     }
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF4)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF4);
-	}
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF4)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF4);
-	}
 }
 
 void UART4_IRQHandler(void)
@@ -518,22 +518,22 @@ void DMA1_Stream7_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_5]->port);
     if(DMA_GetITStatus(s->txDMAStream,DMA_IT_TCIF7))
     {
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF7);
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF7);
-		if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF7)==SET)
-		{
-			DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF7);
-		}
-		handleUsartTxDma(s);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF7);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF7);
+        if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF7)==SET)
+        {
+            DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF7);
+        }
+        handleUsartTxDma(s);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF7)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF7);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF7)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF7);
     }
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF7)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF7);
-	}
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF7)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF7);
-	}
 }
 
 void UART5_IRQHandler(void)
@@ -556,22 +556,22 @@ void DMA2_Stream6_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_6]->port);
     if(DMA_GetITStatus(s->txDMAStream,DMA_IT_TCIF6))
     {
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF6);
-    	DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF6);
-		if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF6)==SET)
-		{
-			DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF6);
-		}
-		handleUsartTxDma(s);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TCIF6);
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_HTIF6);
+        if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_FEIF6)==SET)
+        {
+            DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_FEIF6);
+        }
+        handleUsartTxDma(s);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF6)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF6);
+    }
+    if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF6)==SET)
+    {
+        DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF6);
     }
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_TEIF6)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_TEIF6);
-	}
-	if(DMA_GetFlagStatus(s->txDMAStream,DMA_IT_DMEIF6)==SET)
-	{
-		DMA_ClearITPendingBit(s->txDMAStream,DMA_IT_DMEIF6);
-	}
 }
 
 void USART6_IRQHandler(void)
diff --git a/src/main/drivers/serial_usb_vcp.c b/src/main/drivers/serial_usb_vcp.c
index e9ccef82f..bb74b36b3 100644
--- a/src/main/drivers/serial_usb_vcp.c
+++ b/src/main/drivers/serial_usb_vcp.c
@@ -183,12 +183,12 @@ serialPort_t *usbVcpOpen(void)
 #ifdef STM32F4
     IOInit(IOGetByTag(IO_TAG(PA11)), OWNER_USB, RESOURCE_IO);
     IOInit(IOGetByTag(IO_TAG(PA12)), OWNER_USB, RESOURCE_IO);
-	USBD_Init(&USB_OTG_dev, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_CDC_cb, &USR_cb);
+    USBD_Init(&USB_OTG_dev, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_CDC_cb, &USR_cb);
 #else
-	Set_System();
-	Set_USBClock();
-	USB_Interrupts_Config();
-	USB_Init();
+    Set_System();
+    Set_USBClock();
+    USB_Interrupts_Config();
+    USB_Init();
 #endif
 
     s = &vcpPort;
diff --git a/src/main/drivers/sonar_hcsr04.c b/src/main/drivers/sonar_hcsr04.c
index 6374f81d3..3b8ec91f7 100644
--- a/src/main/drivers/sonar_hcsr04.c
+++ b/src/main/drivers/sonar_hcsr04.c
@@ -92,9 +92,9 @@ void hcsr04_init(sonarRange_t *sonarRange)
     IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
 
 #ifdef USE_EXTI
-	EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
-	EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
-	EXTIEnable(echoIO, true);
+    EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
+    EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
+    EXTIEnable(echoIO, true);
 #endif
 
     lastMeasurementAt = millis() - 60; // force 1st measurement in hcsr04_get_distance()
diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c
index 1e71845d2..cba9a2a5c 100644
--- a/src/main/drivers/sound_beeper.c
+++ b/src/main/drivers/sound_beeper.c
@@ -39,31 +39,31 @@ static bool beeperInverted = false;
 void systemBeep(bool onoff)
 {
 #ifndef BEEPER
-	UNUSED(onoff);
+    UNUSED(onoff);
 #else
-	IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
+    IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
 #endif
 }
 
 void systemBeepToggle(void)
 {
 #ifdef BEEPER
-	IOToggle(beeperIO);
+    IOToggle(beeperIO);
 #endif
 }
 
 void beeperInit(const beeperConfig_t *config)
 {
 #ifndef BEEPER
-	UNUSED(config);
+    UNUSED(config);
 #else
-	beeperIO = IOGetByTag(config->ioTag);
-	beeperInverted = config->isInverted;
+    beeperIO = IOGetByTag(config->ioTag);
+    beeperInverted = config->isInverted;
 
-	if (beeperIO) {
-		IOInit(beeperIO, OWNER_BEEPER, RESOURCE_OUTPUT);
-		IOConfigGPIO(beeperIO, config->isOD ? IOCFG_OUT_OD : IOCFG_OUT_PP);
-	}
-	systemBeep(false);
+    if (beeperIO) {
+        IOInit(beeperIO, OWNER_BEEPER, RESOURCE_OUTPUT);
+        IOConfigGPIO(beeperIO, config->isOD ? IOCFG_OUT_OD : IOCFG_OUT_PP);
+    }
+    systemBeep(false);
 #endif
 }
diff --git a/src/main/drivers/sound_beeper.h b/src/main/drivers/sound_beeper.h
index bdd17b745..ab7a7c3df 100644
--- a/src/main/drivers/sound_beeper.h
+++ b/src/main/drivers/sound_beeper.h
@@ -30,9 +30,9 @@
 #endif
 
 typedef struct beeperConfig_s {
-	ioTag_t ioTag;
-	unsigned isInverted : 1;
-	unsigned isOD : 1;
+    ioTag_t ioTag;
+    unsigned isInverted : 1;
+    unsigned isOD : 1;
 } beeperConfig_t;
 
 void systemBeep(bool on);
diff --git a/src/main/drivers/system.h b/src/main/drivers/system.h
index 6f8bf23d6..92e17f8a8 100644
--- a/src/main/drivers/system.h
+++ b/src/main/drivers/system.h
@@ -25,13 +25,13 @@ uint32_t micros(void);
 uint32_t millis(void);
 
 typedef enum {
-	FAILURE_DEVELOPER = 0,
-	FAILURE_MISSING_ACC,
-	FAILURE_ACC_INIT,
-	FAILURE_ACC_INCOMPATIBLE,
-	FAILURE_INVALID_EEPROM_CONTENTS,
-	FAILURE_FLASH_WRITE_FAILED,
-	FAILURE_GYRO_INIT_FAILED
+    FAILURE_DEVELOPER = 0,
+    FAILURE_MISSING_ACC,
+    FAILURE_ACC_INIT,
+    FAILURE_ACC_INCOMPATIBLE,
+    FAILURE_INVALID_EEPROM_CONTENTS,
+    FAILURE_FLASH_WRITE_FAILED,
+    FAILURE_GYRO_INIT_FAILED
 } failureMode_e;
 
 // failure
diff --git a/src/main/drivers/system_stm32f4xx.c b/src/main/drivers/system_stm32f4xx.c
index bcaf71c9d..f0042026f 100644
--- a/src/main/drivers/system_stm32f4xx.c
+++ b/src/main/drivers/system_stm32f4xx.c
@@ -45,8 +45,8 @@ void systemReset(void)
     if (mpuConfiguration.reset)
         mpuConfiguration.reset();
 
-	__disable_irq();
-	NVIC_SystemReset();
+    __disable_irq();
+    NVIC_SystemReset();
 }
 
 void systemResetToBootloader(void) 
@@ -54,10 +54,10 @@ void systemResetToBootloader(void)
     if (mpuConfiguration.reset)
         mpuConfiguration.reset();
 
-	*((uint32_t *)0x2001FFFC) = 0xDEADBEEF; // 128KB SRAM STM32F4XX
+    *((uint32_t *)0x2001FFFC) = 0xDEADBEEF; // 128KB SRAM STM32F4XX
 
-	__disable_irq();
-	NVIC_SystemReset();
+    __disable_irq();
+    NVIC_SystemReset();
 }
 
 void enableGPIOPowerUsageAndNoiseReductions(void)
@@ -82,7 +82,7 @@ void enableGPIOPowerUsageAndNoiseReductions(void)
         RCC_AHB1Periph_BKPSRAM |
         RCC_AHB1Periph_DMA1 |
         RCC_AHB1Periph_DMA2 |
-		0, ENABLE
+        0, ENABLE
     );
 
     RCC_AHB2PeriphClockCmd(0, ENABLE);
@@ -172,25 +172,25 @@ void systemInit(void)
     SetSysClock();
 
     // Configure NVIC preempt/priority groups
-	NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
+    NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
 
     // cache RCC->CSR value to use it in isMPUSoftreset() and others
-	cachedRccCsrValue = RCC->CSR;
+    cachedRccCsrValue = RCC->CSR;
 
     /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
-	extern void *isr_vector_table_base;
-	NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
-	RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, DISABLE);
+    extern void *isr_vector_table_base;
+    NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
+    RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, DISABLE);
     
-	RCC_ClearFlag();
+    RCC_ClearFlag();
 
-	enableGPIOPowerUsageAndNoiseReductions();
+    enableGPIOPowerUsageAndNoiseReductions();
 
     // Init cycle counter
-	cycleCounterInit();
+    cycleCounterInit();
 
-	memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
-	// SysTick
-	SysTick_Config(SystemCoreClock / 1000);
+    memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
+    // SysTick
+    SysTick_Config(SystemCoreClock / 1000);
 }
 
diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index 673265f54..732fa5f4a 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -148,7 +148,7 @@ rccPeriphTag_t timerRCC(TIM_TypeDef *tim)
     for (uint8_t i = 0; i < HARDWARE_TIMER_DEFINITION_COUNT; i++) {
         if (timerDefinitions[i].TIMx == tim) {
             return timerDefinitions[i].rcc;
-        }            
+        }
     }
     return 0;
 }
@@ -190,7 +190,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
 #else
     TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
 #endif 
-    
+
     TIM_TimeBaseStructure.TIM_ClockDivision = 0;
     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
     TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
@@ -660,7 +660,7 @@ void timerInit(void)
         IOConfigGPIOAF(IOGetByTag(timerHardwarePtr->tag), timerHardwarePtr->ioMode, timerHardwarePtr->alternateFunction);
     }
 #endif
-    
+
     // initialize timer channel structures
     for(int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
         timerChannelInfo[i].type = TYPE_FREE;
diff --git a/src/main/main.c b/src/main/main.c
index dba36d3f4..b1a157c4d 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -488,12 +488,12 @@ void init(void)
 #endif
 
     if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
-                masterConfig.acc_hardware, 
-                masterConfig.mag_hardware, 
-                masterConfig.baro_hardware, 
-                masterConfig.mag_declination, 
-                masterConfig.gyro_lpf, 
-                masterConfig.gyro_sync_denom)) {
+            masterConfig.acc_hardware,
+            masterConfig.mag_hardware,
+            masterConfig.baro_hardware,
+            masterConfig.mag_declination,
+            masterConfig.gyro_lpf,
+            masterConfig.gyro_sync_denom)) {
         // if gyro was not detected due to whatever reason, we give up now.
         failureMode(FAILURE_MISSING_ACC);
     }
@@ -688,7 +688,7 @@ void processLoopback(void) {
 #define processLoopback()
 #endif
 
-void main_init(void) 
+void main_init(void)
 {
     init();
 
diff --git a/src/main/mw.c b/src/main/mw.c
index e2819b722..f77c42673 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -185,7 +185,7 @@ float calculateRate(int axis, int16_t rc) {
     }
 
 
-	return  constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
+    return  constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
 }
 
 void processRcCommand(void)
@@ -778,7 +778,7 @@ void subTaskMotorUpdate(void)
 
 uint8_t setPidUpdateCountDown(void) {
     if (masterConfig.gyro_soft_lpf_hz) {
-	    return masterConfig.pid_process_denom - 1;
+        return masterConfig.pid_process_denom - 1;
     } else {
         return 1;
     }
diff --git a/src/main/target/ALIENFLIGHTF3/hardware_revision.c b/src/main/target/ALIENFLIGHTF3/hardware_revision.c
index 210836995..b51d38658 100644
--- a/src/main/target/ALIENFLIGHTF3/hardware_revision.c
+++ b/src/main/target/ALIENFLIGHTF3/hardware_revision.c
@@ -39,7 +39,7 @@ static IO_t HWDetectPin = IO_NONE;
 
 void detectHardwareRevision(void)
 {
-	HWDetectPin = IOGetByTag(IO_TAG(HW_PIN));
+    HWDetectPin = IOGetByTag(IO_TAG(HW_PIN));
     IOInit(HWDetectPin, OWNER_SYSTEM, RESOURCE_INPUT);
     IOConfigGPIO(HWDetectPin, IOCFG_IPU);
 
@@ -74,4 +74,4 @@ const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
     else {
         return &alienFlightF3V2MPUIntExtiConfig;
     }
-}
\ No newline at end of file
+}
diff --git a/src/main/target/CC3D/target.c b/src/main/target/CC3D/target.c
index b146e6a72..abfe089aa 100644
--- a/src/main/target/CC3D/target.c
+++ b/src/main/target/CC3D/target.c
@@ -28,12 +28,12 @@ const uint16_t multiPWM[] = {
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
-    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),      // motor #1 or servo #1 (swap to servo if needed)
-    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 or servo #2 (swap to servo if needed)
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 or #3
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
     PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
-    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #4 or #6
     0xFFFF
 };
 
@@ -59,26 +59,26 @@ const uint16_t airPWM[] = {
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
-    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
-    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
-    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
-    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
-    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
-    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #3
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
     0xFFFF
 };
 
 const uint16_t multiPPM_BP6[] = {
     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #1
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #2
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #3
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #4
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #3
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #4
     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     0xFFFF
 };
 
@@ -89,9 +89,9 @@ const uint16_t multiPWM_BP6[] = {
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
-    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),      // motor #1 or servo #1 (swap to servo if needed)
-    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 or servo #2 (swap to servo if needed)
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 or #3
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
     PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
     0xFFFF
@@ -118,11 +118,11 @@ const uint16_t airPWM_BP6[] = {
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
-    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
-    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
-    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
-    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
-    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #3
     0xFFFF
 };
 
diff --git a/src/main/target/CJMCU/hardware_revision.c b/src/main/target/CJMCU/hardware_revision.c
index 29071314b..558e19a76 100755
--- a/src/main/target/CJMCU/hardware_revision.c
+++ b/src/main/target/CJMCU/hardware_revision.c
@@ -55,5 +55,5 @@ void updateHardwareRevision(void)
 
 const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
 {
-	return NULL;
-}
\ No newline at end of file
+    return NULL;
+}
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 68bf28448..976b287a0 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -34,7 +34,7 @@
 #define MPU6500_CS_PIN                   PA4
 #define MPU6500_SPI_INSTANCE             SPI1
 
-#define MPU6000_CS_PIN				 PA4
+#define MPU6000_CS_PIN                   PA4
 #define MPU6000_SPI_INSTANCE             SPI1
 
 #define USE_SPI
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 6201b8b3f..f849070b7 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -25,9 +25,9 @@
 #define USE_EXTI
 #define CONFIG_PREFER_ACC_ON
  
-#define LED0 	    PC14
+#define LED0        PC14
 
-#define BEEPER 		PC15
+#define BEEPER      PC15
 #define BEEPER_INVERTED
 
 #define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU INT, SDCardDetect
@@ -188,7 +188,7 @@
 #define TARGET_IO_PORTB 0xffff
 #define TARGET_IO_PORTC 0xffff
 #define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTF	(BIT(4))
+#define TARGET_IO_PORTF (BIT(4))
 
 #define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
 
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index 03c3cf31f..6d79046a7 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -86,6 +86,6 @@
 #define TARGET_IO_PORTB 0xffff
 #define TARGET_IO_PORTC 0xffff
 #define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTF	(BIT(4))
+#define TARGET_IO_PORTF (BIT(4))
 
 #define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
diff --git a/src/main/target/LUX_RACE/target.c b/src/main/target/LUX_RACE/target.c
index 30804c575..b665072ac 100644
--- a/src/main/target/LUX_RACE/target.c
+++ b/src/main/target/LUX_RACE/target.c
@@ -26,12 +26,12 @@ const uint16_t multiPWM[] = {
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),			// Swap to servo if needed
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),			// Swap to servo if needed
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
-    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
-    PWM11  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+    PWM11  | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
     0xFFFF
 };
 
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index cda67742e..d2124e5b2 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -23,7 +23,7 @@
 
 #define USBD_PRODUCT_STRING "Revolution"
 #ifdef OPBL
-	#define USBD_SERIALNUMBER_STRING "0x8020000"
+#define USBD_SERIALNUMBER_STRING "0x8020000"
 #endif
 
 #define LED0            PB5
diff --git a/src/main/target/REVONANO/target.h b/src/main/target/REVONANO/target.h
index 3c0287f2f..6f4a2c431 100644
--- a/src/main/target/REVONANO/target.h
+++ b/src/main/target/REVONANO/target.h
@@ -22,7 +22,7 @@
 
 #define USBD_PRODUCT_STRING "Revo Nano"
 #ifdef OPBL
-	#define USBD_SERIALNUMBER_STRING "0x8010000"
+#define USBD_SERIALNUMBER_STRING "0x8010000"
 #endif
 
 #define LED0 PC14
diff --git a/src/main/target/SPRACINGF3/target.c b/src/main/target/SPRACINGF3/target.c
index ff9c8044f..ddebee117 100644
--- a/src/main/target/SPRACINGF3/target.c
+++ b/src/main/target/SPRACINGF3/target.c
@@ -92,15 +92,15 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
     { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
     { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
     { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM8 - PA3
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM8 - PA3
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0},  // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0}, // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/X_RACERSPI/target.c b/src/main/target/X_RACERSPI/target.c
index ff9c8044f..ddebee117 100644
--- a/src/main/target/X_RACERSPI/target.c
+++ b/src/main/target/X_RACERSPI/target.c
@@ -92,15 +92,15 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
     { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
     { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
     { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM8 - PA3
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM8 - PA3
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0},  // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0}, // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/X_RACERSPI/target.mk b/src/main/target/X_RACERSPI/target.mk
index c0c219bd3..3d831edc4 100644
--- a/src/main/target/X_RACERSPI/target.mk
+++ b/src/main/target/X_RACERSPI/target.mk
@@ -12,5 +12,5 @@ TARGET_SRC = \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stm32f30x.c \
             drivers/serial_softserial.c \
-            drivers/sonar_hcsr04.c 
+            drivers/sonar_hcsr04.c
 
diff --git a/src/main/target/ZCOREF3/target.h b/src/main/target/ZCOREF3/target.h
index c02b4d3ec..d8ac143e8 100644
--- a/src/main/target/ZCOREF3/target.h
+++ b/src/main/target/ZCOREF3/target.h
@@ -21,7 +21,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0    	PB8
+#define LED0        PB8
 
 #define BEEPER      PC15
 #define BEEPER_INVERTED
@@ -45,8 +45,8 @@
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_MPU6500_ALIGN 	CW180_DEG
-#define GYRO_MPU6500_ALIGN 	CW180_DEG
+#define ACC_MPU6500_ALIGN   CW180_DEG
+#define GYRO_MPU6500_ALIGN  CW180_DEG
 
 #define BARO
 #define USE_BARO_BMP280
diff --git a/src/main/telemetry/hott.c b/src/main/telemetry/hott.c
index 1eec8b9c0..6fb0bc1a9 100644
--- a/src/main/telemetry/hott.c
+++ b/src/main/telemetry/hott.c
@@ -424,8 +424,8 @@ static void hottCheckSerialData(uint32_t currentMicros)
 }
 
 static void workAroundForHottTelemetryOnUsart(serialPort_t *instance, portMode_t mode) {
-	closeSerialPort(hottPort);
-	hottPort = openSerialPort(instance->identifier, FUNCTION_TELEMETRY_HOTT, NULL, HOTT_BAUDRATE, mode, SERIAL_NOT_INVERTED);
+    closeSerialPort(hottPort);
+    hottPort = openSerialPort(instance->identifier, FUNCTION_TELEMETRY_HOTT, NULL, HOTT_BAUDRATE, mode, SERIAL_NOT_INVERTED);
 }
 
 static void hottSendTelemetryData(void) {
@@ -433,9 +433,9 @@ static void hottSendTelemetryData(void) {
         hottIsSending = true;
         // FIXME temorary workaround for HoTT not working on Hardware serial ports due to hardware/softserial serial port initialisation differences
         if ((portConfig->identifier == SERIAL_PORT_USART1) || (portConfig->identifier == SERIAL_PORT_USART2) || (portConfig->identifier == SERIAL_PORT_USART3))
-        	workAroundForHottTelemetryOnUsart(hottPort, MODE_TX);
+            workAroundForHottTelemetryOnUsart(hottPort, MODE_TX);
         else
-        	serialSetMode(hottPort, MODE_TX);
+            serialSetMode(hottPort, MODE_TX);
         hottMsgCrc = 0;
         return;
     }
@@ -445,9 +445,9 @@ static void hottSendTelemetryData(void) {
         hottIsSending = false;
         // FIXME temorary workaround for HoTT not working on Hardware serial ports due to hardware/softserial serial port initialisation differences
         if ((portConfig->identifier == SERIAL_PORT_USART1) || (portConfig->identifier == SERIAL_PORT_USART2) || (portConfig->identifier == SERIAL_PORT_USART3))
-        	workAroundForHottTelemetryOnUsart(hottPort, MODE_RX);
+            workAroundForHottTelemetryOnUsart(hottPort, MODE_RX);
         else
-        	serialSetMode(hottPort, MODE_RX);
+            serialSetMode(hottPort, MODE_RX);
         flushHottRxBuffer();
         return;
     }
diff --git a/src/main/vcpf4/usb_bsp.c b/src/main/vcpf4/usb_bsp.c
index ba3fee767..1160c47d8 100644
--- a/src/main/vcpf4/usb_bsp.c
+++ b/src/main/vcpf4/usb_bsp.c
@@ -28,12 +28,12 @@
 #include "../drivers/io.h"
 
 void USB_OTG_BSP_ConfigVBUS(USB_OTG_CORE_HANDLE *pdev) {
-	(void)pdev;
+    (void)pdev;
 }
 
 void USB_OTG_BSP_DriveVBUS(USB_OTG_CORE_HANDLE *pdev,uint8_t state) {
-	(void)pdev;
-	(void)state;
+    (void)pdev;
+    (void)state;
 }
 
 
@@ -46,7 +46,7 @@ void USB_OTG_BSP_DriveVBUS(USB_OTG_CORE_HANDLE *pdev,uint8_t state) {
 
 void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
 {
-	(void)pdev;
+    (void)pdev;
     GPIO_InitTypeDef GPIO_InitStructure;
 
 #ifndef USE_ULPI_PHY
@@ -100,7 +100,7 @@ void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
 */
 void USB_OTG_BSP_EnableInterrupt(USB_OTG_CORE_HANDLE *pdev)
 {
-	(void)pdev;
+    (void)pdev;
     NVIC_InitTypeDef NVIC_InitStructure;
 
     NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
diff --git a/src/main/vcpf4/usb_conf.h b/src/main/vcpf4/usb_conf.h
index 6caf29888..60c803620 100644
--- a/src/main/vcpf4/usb_conf.h
+++ b/src/main/vcpf4/usb_conf.h
@@ -233,9 +233,9 @@
 #elif defined (__ICCARM__)     /* IAR Compiler */
   #define __packed    __packed
 #elif defined   ( __GNUC__ )   /* GNU Compiler */
-	#ifndef __packed
-	  #define __packed    __attribute__ ((__packed__))
-	#endif
+    #ifndef __packed
+      #define __packed    __attribute__ ((__packed__))
+    #endif
 #elif defined   (__TASKING__)  /* TASKING Compiler */
   #define __packed    __unaligned
 #endif /* __CC_ARM */
diff --git a/src/main/vcpf4/usbd_cdc_vcp.h b/src/main/vcpf4/usbd_cdc_vcp.h
index 3c89b5b9e..3ca22aa4e 100644
--- a/src/main/vcpf4/usbd_cdc_vcp.h
+++ b/src/main/vcpf4/usbd_cdc_vcp.h
@@ -34,7 +34,7 @@
 #include "usbd_usr.h"
 #include "usbd_desc.h"
 
-#define USB_RX_BUFSIZE		1024
+#define USB_RX_BUFSIZE      1024
 
 __ALIGN_BEGIN USB_OTG_CORE_HANDLE  USB_OTG_dev __ALIGN_END;
 
diff --git a/src/main/vcpf4/usbd_desc.c b/src/main/vcpf4/usbd_desc.c
index 41282dab2..f9478327e 100644
--- a/src/main/vcpf4/usbd_desc.c
+++ b/src/main/vcpf4/usbd_desc.c
@@ -197,7 +197,7 @@ __ALIGN_BEGIN uint8_t USBD_LangIDDesc[USB_SIZ_STRING_LANGID] __ALIGN_END =
 */
 uint8_t *  USBD_USR_DeviceDescriptor( uint8_t speed , uint16_t *length)
 {
-	(void)speed;
+    (void)speed;
   *length = sizeof(USBD_DeviceDesc);
   return USBD_DeviceDesc;
 }
@@ -211,7 +211,7 @@ uint8_t *  USBD_USR_DeviceDescriptor( uint8_t speed , uint16_t *length)
 */
 uint8_t *  USBD_USR_LangIDStrDescriptor( uint8_t speed , uint16_t *length)
 {
-	(void)speed;
+    (void)speed;
   *length =  sizeof(USBD_LangIDDesc);  
   return USBD_LangIDDesc;
 }
@@ -245,7 +245,7 @@ uint8_t *  USBD_USR_ProductStrDescriptor( uint8_t speed , uint16_t *length)
 */
 uint8_t *  USBD_USR_ManufacturerStrDescriptor( uint8_t speed , uint16_t *length)
 {
-	(void)speed;
+    (void)speed;
   USBD_GetString ((uint8_t*)USBD_MANUFACTURER_STRING, USBD_StrDesc, length);
   return USBD_StrDesc;
 }

From 7d5c8de5520b5d177f683a415be42318e4600878 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Mon, 27 Jun 2016 19:32:41 +0100
Subject: [PATCH 17/54] Changed tabs to spaces

---
 src/main/drivers/accgyro_l3gd20.c      | 2 +-
 src/main/drivers/accgyro_spi_mpu6000.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/accgyro_l3gd20.c b/src/main/drivers/accgyro_l3gd20.c
index dd28aceb1..aade7445b 100644
--- a/src/main/drivers/accgyro_l3gd20.c
+++ b/src/main/drivers/accgyro_l3gd20.c
@@ -62,7 +62,7 @@
 
 #define BLOCK_DATA_UPDATE_CONTINUOUS  ((uint8_t)0x00)
 
-#define BLE_MSB	                      ((uint8_t)0x40)
+#define BLE_MSB                       ((uint8_t)0x40)
 
 #define BOOT                          ((uint8_t)0x80)
 
diff --git a/src/main/drivers/accgyro_spi_mpu6000.h b/src/main/drivers/accgyro_spi_mpu6000.h
index c717a7bb1..0081bddeb 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.h
+++ b/src/main/drivers/accgyro_spi_mpu6000.h
@@ -1,7 +1,7 @@
 
 #pragma once
 
-#define MPU6000_CONFIG		    	0x1A
+#define MPU6000_CONFIG              0x1A
 
 #define BITS_DLPF_CFG_256HZ         0x00
 #define BITS_DLPF_CFG_188HZ         0x01

From a2d1af04aafa5c23b105aad894deb3e6cc787da4 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Mon, 27 Jun 2016 20:04:21 +0100
Subject: [PATCH 18/54] Minor cosmetic tidying

---
 src/main/drivers/timer.c            | 2 --
 src/main/main.c                     | 9 ++++-----
 src/main/sensors/acceleration.c     | 2 +-
 src/main/sensors/barometer.c        | 7 ++++---
 src/main/sensors/compass.c          | 9 +++++----
 src/main/target/X_RACERSPI/target.c | 1 -
 src/main/target/X_RACERSPI/target.h | 2 +-
 7 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index 732fa5f4a..6999a9798 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -17,7 +17,6 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 #include <string.h>
 
 #include "platform.h"
@@ -26,7 +25,6 @@
 
 #include "nvic.h"
 
-#include "gpio.h"
 #include "gpio.h"
 #include "rcc.h"
 #include "system.h"
diff --git a/src/main/main.c b/src/main/main.c
index b1a157c4d..e31c6933d 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -17,11 +17,11 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 #include <string.h>
 #include <math.h>
 
 #include "platform.h"
+
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/maths.h"
@@ -153,9 +153,6 @@ static uint8_t systemState = SYSTEM_STATE_INITIALISING;
 
 void init(void)
 {
-    uint8_t i;
-    drv_pwm_config_t pwm_params;
-
     printfSupportInit();
 
     initEEPROM();
@@ -260,6 +257,7 @@ void init(void)
     mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
 #endif
 
+    drv_pwm_config_t pwm_params;
     memset(&pwm_params, 0, sizeof(pwm_params));
 
 #ifdef SONAR
@@ -333,6 +331,7 @@ void init(void)
 #endif
     pwmRxInit(masterConfig.inputFilteringMode);
 
+    // pwmInit() needs to be called as soon as possible for ESC compatibility reasons
     pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
 
     mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
@@ -504,7 +503,7 @@ void init(void)
     LED0_OFF;
     LED2_OFF;
     
-    for (i = 0; i < 10; i++) {
+    for (int i = 0; i < 10; i++) {
         LED1_TOGGLE;
         LED0_TOGGLE;
         delay(25);
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 320d00ddd..1a4f6ef21 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -45,7 +45,7 @@ acc_t acc;                       // acc access functions
 sensor_align_e accAlign = 0;
 uint32_t accTargetLooptime;
 
-uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
+static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
 
 extern uint16_t InflightcalibratingA;
 extern bool AccInflightCalibrationArmed;
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 2a011d8e2..1793e3794 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -20,6 +20,10 @@
 #include <math.h>
 
 #include "platform.h"
+
+int32_t BaroAlt = 0;
+
+#ifdef BARO
 #include "common/maths.h"
 
 #include "drivers/barometer.h"
@@ -32,9 +36,6 @@ baro_t baro;                        // barometer access functions
 uint16_t calibratingB = 0;      // baro calibration = get new ground pressure value
 int32_t baroPressure = 0;
 int32_t baroTemperature = 0;
-int32_t BaroAlt = 0;
-
-#ifdef BARO
 
 static int32_t baroGroundAltitude = 0;
 static int32_t baroGroundPressure = 0;
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 7ee14da4c..de075bfe2 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -40,13 +40,14 @@
 #endif
 
 mag_t mag;                   // mag access functions
+int32_t magADC[XYZ_AXIS_COUNT];
+sensor_align_e magAlign = 0;
+
+#ifdef MAG
 
 extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
 
-int16_t magADCRaw[XYZ_AXIS_COUNT];
-int32_t magADC[XYZ_AXIS_COUNT];
-sensor_align_e magAlign = 0;
-#ifdef MAG
+static int16_t magADCRaw[XYZ_AXIS_COUNT];
 static uint8_t magInit = 0;
 
 void compassInit(void)
diff --git a/src/main/target/X_RACERSPI/target.c b/src/main/target/X_RACERSPI/target.c
index ddebee117..9c0bd0403 100644
--- a/src/main/target/X_RACERSPI/target.c
+++ b/src/main/target/X_RACERSPI/target.c
@@ -84,7 +84,6 @@ const uint16_t airPWM[] = {
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
     { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
     { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
     { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
     { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
index a655c93e2..39c2e6c20 100644
--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "X_RACERSPI"
+#define TARGET_BOARD_IDENTIFIER "XRC3"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 

From abd6b1e0f67637c64c053e415920640009a8b6b0 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Tue, 28 Jun 2016 07:25:02 +1000
Subject: [PATCH 19/54] Enable pull ups for i2c for F3 targets by default.

---
 src/main/drivers/bus_i2c_stm32f30x.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index c324d03e7..adb424390 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -83,8 +83,8 @@ void i2cInit(I2CDevice device)
     RCC_ClockCmd(i2c->rcc, ENABLE);
     RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK);
 
-    IOConfigGPIOAF(scl, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_NOPULL), GPIO_AF_4);
-    IOConfigGPIOAF(sda, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_NOPULL), GPIO_AF_4);
+    IOConfigGPIOAF(scl, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
+    IOConfigGPIOAF(sda, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
 
     I2C_InitTypeDef i2cInit = {
         .I2C_Mode = I2C_Mode_I2C,

From 5a10e75551f56597c1ac4aa0ec28d10cf8d127fe Mon Sep 17 00:00:00 2001
From: blckmn <j@blck.mn>
Date: Tue, 28 Jun 2016 10:27:26 +1000
Subject: [PATCH 20/54] Update hmc5883l to use new IO

---
 src/main/drivers/compass_hmc5883l.c | 81 ++++++-----------------------
 src/main/drivers/compass_hmc5883l.h | 16 ++----
 src/main/sensors/initialisation.c   | 31 ++---------
 src/main/target/NAZE/target.h       |  3 +-
 src/main/target/SPRACINGF3/target.h |  9 ++--
 5 files changed, 31 insertions(+), 109 deletions(-)

diff --git a/src/main/drivers/compass_hmc5883l.c b/src/main/drivers/compass_hmc5883l.c
index a018ab0f5..c8c398fc3 100644
--- a/src/main/drivers/compass_hmc5883l.c
+++ b/src/main/drivers/compass_hmc5883l.c
@@ -29,7 +29,8 @@
 
 #include "system.h"
 #include "nvic.h"
-#include "gpio.h"
+#include "io.h"
+#include "exti.h"
 #include "bus_i2c.h"
 #include "light_led.h"
 
@@ -120,14 +121,14 @@ static float magGain[3] = { 1.0f, 1.0f, 1.0f };
 
 static const hmc5883Config_t *hmc5883Config = NULL;
 
-void MAG_DATA_READY_EXTI_Handler(void)
+#ifdef USE_MAG_DATA_READY_SIGNAL
+
+static IO_t intIO;
+static extiCallbackRec_t hmc5883_extiCallbackRec;
+
+void hmc5883_extiHandler(extiCallbackRec_t* cb)
 {
-    if (EXTI_GetITStatus(hmc5883Config->exti_line) == RESET) {
-        return;
-    }
-
-    EXTI_ClearITPendingBit(hmc5883Config->exti_line);
-
+    UNUSED(cb);
 #ifdef DEBUG_MAG_DATA_READY_INTERRUPT
     // Measure the delta between calls to the interrupt handler
     // currently should be around 65/66 milli seconds / 15hz output rate
@@ -143,57 +144,26 @@ void MAG_DATA_READY_EXTI_Handler(void)
     lastCalledAt = now;
 #endif
 }
+#endif
 
 static void hmc5883lConfigureDataReadyInterruptHandling(void)
 {
 #ifdef USE_MAG_DATA_READY_SIGNAL
 
-    if (!(hmc5883Config->exti_port_source && hmc5883Config->exti_pin_source)) {
+    if (!(hmc5883Config->intTag)) {
         return;
     }
-#ifdef STM32F10X
-    // enable AFIO for EXTI support
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
-#endif
-
-#ifdef STM32F303xC
-    /* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
-#endif
-
-#ifdef STM32F10X
-    gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
-#endif
-
-#ifdef STM32F303xC
-    gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
-#endif
-
+    intIO = IOGetByTag(hmc5883Config->intTag);
 #ifdef ENSURE_MAG_DATA_READY_IS_HIGH
-    uint8_t status = GPIO_ReadInputDataBit(hmc5883Config->gpioPort, hmc5883Config->gpioPin);
+    uint8_t status = IORead(intIO);
     if (!status) {
         return;
     }
 #endif
 
-    registerExtiCallbackHandler(hmc5883Config->exti_irqn, MAG_DATA_READY_EXTI_Handler);
-
-    EXTI_ClearITPendingBit(hmc5883Config->exti_line);
-
-    EXTI_InitTypeDef EXTIInit;
-    EXTIInit.EXTI_Line = hmc5883Config->exti_line;
-    EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
-    EXTIInit.EXTI_Trigger = EXTI_Trigger_Falling;
-    EXTIInit.EXTI_LineCmd = ENABLE;
-    EXTI_Init(&EXTIInit);
-
-    NVIC_InitTypeDef NVIC_InitStructure;
-
-    NVIC_InitStructure.NVIC_IRQChannel = hmc5883Config->exti_irqn;
-    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MAG_DATA_READY);
-    NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_MAG_DATA_READY);
-    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-    NVIC_Init(&NVIC_InitStructure);
+    EXTIHandlerInit(&hmc5883_extiCallbackRec, hmc5883_extiHandler);
+    EXTIConfig(intIO, &hmc5883_extiCallbackRec, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);
+    EXTIEnable(intIO, true);
 #endif
 }
 
@@ -221,25 +191,6 @@ void hmc5883lInit(void)
     int32_t xyz_total[3] = { 0, 0, 0 }; // 32 bit totals so they won't overflow.
     bool bret = true;           // Error indicator
 
-    gpio_config_t gpio;
-
-    if (hmc5883Config) {
-#ifdef STM32F303
-        if (hmc5883Config->gpioAHBPeripherals) {
-            RCC_AHBPeriphClockCmd(hmc5883Config->gpioAHBPeripherals, ENABLE);
-        }
-#endif
-#ifdef STM32F10X
-        if (hmc5883Config->gpioAPB2Peripherals) {
-            RCC_APB2PeriphClockCmd(hmc5883Config->gpioAPB2Peripherals, ENABLE);
-        }
-#endif
-        gpio.pin = hmc5883Config->gpioPin;
-        gpio.speed = Speed_2MHz;
-        gpio.mode = Mode_IN_FLOATING;
-        gpioInit(hmc5883Config->gpioPort, &gpio);
-    }
-
     delay(50);
     i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
     // Note that the  very first measurement after a gain change maintains the same gain as the previous setting.
diff --git a/src/main/drivers/compass_hmc5883l.h b/src/main/drivers/compass_hmc5883l.h
index 53c4c9f3e..035a2c936 100644
--- a/src/main/drivers/compass_hmc5883l.h
+++ b/src/main/drivers/compass_hmc5883l.h
@@ -17,20 +17,10 @@
 
 #pragma once
 
-typedef struct hmc5883Config_s {
-#ifdef STM32F303
-    uint32_t gpioAHBPeripherals;
-#endif
-#ifdef STM32F10X
-    uint32_t gpioAPB2Peripherals;
-#endif
-    uint16_t gpioPin;
-    GPIO_TypeDef *gpioPort;
+#include "io.h"
 
-    uint8_t exti_port_source;
-    uint32_t exti_line;
-    uint8_t exti_pin_source;
-    IRQn_Type exti_irqn;
+typedef struct hmc5883Config_s {
+    ioTag_t intTag;
 } hmc5883Config_t;
 
 bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse);
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 80d616951..2d96a0130 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -484,27 +484,12 @@ static void detectMag(magSensor_e magHardwareToUse)
 #ifdef USE_MAG_HMC5883
     const hmc5883Config_t *hmc5883Config = 0;
 
-#ifdef NAZE
+#ifdef NAZE // TODO remove this target specific define
     static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
-            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
-            .gpioPin = Pin_12,
-            .gpioPort = GPIOB,
-
-            /* Disabled for v4 needs more work.
-            .exti_port_source = GPIO_PortSourceGPIOB,
-            .exti_pin_source = GPIO_PinSource12,
-            .exti_line = EXTI_Line12,
-            .exti_irqn = EXTI15_10_IRQn
-            */
+            .intTag = IO_TAG(PB12) /* perhaps disabled? */
     };
     static const hmc5883Config_t nazeHmc5883Config_v5 = {
-            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
-            .gpioPin = Pin_14,
-            .gpioPort = GPIOC,
-            .exti_port_source = GPIO_PortSourceGPIOC,
-            .exti_line = EXTI_Line14,
-            .exti_pin_source = GPIO_PinSource14,
-            .exti_irqn = EXTI15_10_IRQn
+            .intTag = IO_TAG(MAG_INT_EXTI)
     };
     if (hardwareRevision < NAZE32_REV5) {
         hmc5883Config = &nazeHmc5883Config_v1_v4;
@@ -513,15 +498,9 @@ static void detectMag(magSensor_e magHardwareToUse)
     }
 #endif
 
-#ifdef SPRACINGF3
+#ifdef MAG_INT_EXTI
     static const hmc5883Config_t spRacingF3Hmc5883Config = {
-        .gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
-        .gpioPin = Pin_14,
-        .gpioPort = GPIOC,
-        .exti_port_source = EXTI_PortSourceGPIOC,
-        .exti_pin_source = EXTI_PinSource14,
-        .exti_line = EXTI_Line14,
-        .exti_irqn = EXTI15_10_IRQn
+        .intTag = IO_TAG(MAG_INT_EXTI)
     };
 
     hmc5883Config = &spRacingF3Hmc5883Config;
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index 9f6e3d2b2..95f531faf 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -74,7 +74,8 @@
 
 //#define DEBUG_MAG_DATA_READY_INTERRUPT
 #define USE_MAG_DATA_READY_SIGNAL
-
+#define MAG_INT_EXTI PC14
+ 
 #define GYRO
 #define USE_GYRO_MPU3050
 #define USE_GYRO_MPU6050
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index 68413bbe0..a4f44762d 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -35,10 +35,6 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define USE_MAG_DATA_READY_SIGNAL
-#define ENSURE_MAG_DATA_READY_IS_HIGH
-
-
 #define GYRO
 #define USE_GYRO_MPU6050
 #define GYRO_MPU6050_ALIGN CW270_DEG
@@ -57,6 +53,11 @@
 #define USE_MAG_HMC5883
 #define MAG_HMC5883_ALIGN CW270_DEG
 
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+#define MAG_INT_EXTI PC14
+
+
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 

From e04c0a3d66ad5e44b06b23ca8a1b1b2f6cd2ee9f Mon Sep 17 00:00:00 2001
From: blckmn <j@blck.mn>
Date: Tue, 28 Jun 2016 15:13:33 +1000
Subject: [PATCH 21/54] Additional IO cleanup for HMC5883 fix

---
 src/main/drivers/accgyro_lsm303dlhc.c |  2 +-
 src/main/drivers/accgyro_lsm303dlhc.h | 57 ++++++---------------------
 src/main/drivers/accgyro_mpu.h        |  2 +
 src/main/drivers/compass_ak8963.c     |  2 -
 4 files changed, 14 insertions(+), 49 deletions(-)

diff --git a/src/main/drivers/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro_lsm303dlhc.c
index 7a7222d4d..4caed3091 100644
--- a/src/main/drivers/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_lsm303dlhc.c
@@ -26,7 +26,7 @@
 #include "common/axis.h"
 
 #include "system.h"
-#include "gpio.h"
+#include "io.h"
 #include "bus_i2c.h"
 
 #include "sensor.h"
diff --git a/src/main/drivers/accgyro_lsm303dlhc.h b/src/main/drivers/accgyro_lsm303dlhc.h
index 6cc79066c..1f5c56f68 100644
--- a/src/main/drivers/accgyro_lsm303dlhc.h
+++ b/src/main/drivers/accgyro_lsm303dlhc.h
@@ -22,8 +22,7 @@
   */
 
 /* LSM303DLHC ACC struct */
-typedef struct
-{
+typedef struct {
   uint8_t Power_Mode;                         /* Power-down/Normal Mode */
   uint8_t AccOutput_DataRate;                 /* OUT data rate */
   uint8_t Axes_Enable;                        /* Axes enable */
@@ -31,25 +30,23 @@ typedef struct
   uint8_t BlockData_Update;                   /* Block Data Update */
   uint8_t Endianness;                         /* Endian Data selection */
   uint8_t AccFull_Scale;                      /* Full Scale selection */
-}LSM303DLHCAcc_InitTypeDef;
+} LSM303DLHCAcc_InitTypeDef;
 
 /* LSM303DLHC Acc High Pass Filter struct */
-typedef struct
-{
+typedef struct {
   uint8_t HighPassFilter_Mode_Selection;      /* Internal filter mode */
   uint8_t HighPassFilter_CutOff_Frequency;    /* High pass filter cut-off frequency */
   uint8_t HighPassFilter_AOI1;                /* HPF_enabling/disabling for AOI function on interrupt 1 */
   uint8_t HighPassFilter_AOI2;                /* HPF_enabling/disabling for AOI function on interrupt 2 */
-}LSM303DLHCAcc_FilterConfigTypeDef;
+} LSM303DLHCAcc_FilterConfigTypeDef;
 
 /* LSM303DLHC Mag struct */
-typedef struct
-{
+typedef struct {
   uint8_t Temperature_Sensor;                /* Temperature sensor enable/disable */
   uint8_t MagOutput_DataRate;                /* OUT data rate */
   uint8_t Working_Mode;                      /* operating mode */
   uint8_t MagFull_Scale;                     /* Full Scale selection */
-}LSM303DLHCMag_InitTypeDef;
+} LSM303DLHCMag_InitTypeDef;
 /**
   * @}
   */
@@ -78,43 +75,11 @@ typedef struct
   * @brief  LSM303DLHC I2C Interface pins
   */
 #define LSM303DLHC_I2C                       I2C1
-#define LSM303DLHC_I2C_CLK                   RCC_APB1Periph_I2C1
-
-#define LSM303DLHC_I2C_SCK_PIN               GPIO_Pin_6                  /* PB.06 */
-#define LSM303DLHC_I2C_SCK_GPIO_PORT         GPIOB                       /* GPIOB */
-#define LSM303DLHC_I2C_SCK_GPIO_CLK          RCC_AHBPeriph_GPIOB
-#define LSM303DLHC_I2C_SCK_SOURCE            GPIO_PinSource6
-#define LSM303DLHC_I2C_SCK_AF                GPIO_AF_4
-
-#define LSM303DLHC_I2C_SDA_PIN               GPIO_Pin_7                  /* PB.7 */
-#define LSM303DLHC_I2C_SDA_GPIO_PORT         GPIOB                       /* GPIOB */
-#define LSM303DLHC_I2C_SDA_GPIO_CLK          RCC_AHBPeriph_GPIOB
-#define LSM303DLHC_I2C_SDA_SOURCE            GPIO_PinSource7
-#define LSM303DLHC_I2C_SDA_AF                GPIO_AF_4
-
-#define LSM303DLHC_DRDY_PIN                  GPIO_Pin_2                  /* PE.02 */
-#define LSM303DLHC_DRDY_GPIO_PORT            GPIOE                       /* GPIOE */
-#define LSM303DLHC_DRDY_GPIO_CLK             RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_DRDY_EXTI_LINE            EXTI_Line2
-#define LSM303DLHC_DRDY_EXTI_PORT_SOURCE     EXTI_PortSourceGPIOE
-#define LSM303DLHC_DRDY_EXTI_PIN_SOURCE      EXTI_PinSource2
-#define LSM303DLHC_DRDY_EXTI_IRQn            EXTI2_TS_IRQn
-
-#define LSM303DLHC_I2C_INT1_PIN              GPIO_Pin_4                  /* PE.04 */
-#define LSM303DLHC_I2C_INT1_GPIO_PORT        GPIOE                       /* GPIOE */
-#define LSM303DLHC_I2C_INT1_GPIO_CLK         RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_I2C_INT1_EXTI_LINE        EXTI_Line4
-#define LSM303DLHC_I2C_INT1_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
-#define LSM303DLHC_I2C_INT1_EXTI_PIN_SOURCE  EXTI_PinSource4
-#define LSM303DLHC_I2C_INT1_EXTI_IRQn        EXTI4_IRQn
-
-#define LSM303DLHC_I2C_INT2_PIN              GPIO_Pin_5                  /* PE.05 */
-#define LSM303DLHC_I2C_INT2_GPIO_PORT        GPIOE                       /* GPIOE */
-#define LSM303DLHC_I2C_INT2_GPIO_CLK         RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_I2C_INT2_EXTI_LINE        EXTI_Line5
-#define LSM303DLHC_I2C_INT2_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
-#define LSM303DLHC_I2C_INT2_EXTI_PIN_SOURCE  EXTI_PinSource5ss
-#define LSM303DLHC_I2C_INT2_EXTI_IRQn        EXTI9_5_IRQn
+#define LSM303DLHC_I2C_SCK_PIN               PB6                         /* PB.06 */
+#define LSM303DLHC_I2C_SDA_PIN               PB7                         /* PB.7 */
+#define LSM303DLHC_DRDY_PIN                  PE2                         /* PE.02 */
+#define LSM303DLHC_I2C_INT1_PIN              PE4                         /* PE.04 */
+#define LSM303DLHC_I2C_INT2_PIN              PE5                         /* PE.05 */
 
 /******************************************************************************/
 /*************************** START REGISTER MAPPING  **************************/
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 4ce6b552d..917c06f1a 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "exti.h"
+ 
 // MPU6050
 #define MPU_RA_WHO_AM_I         0x75
 #define MPU_RA_WHO_AM_I_LEGACY  0x00
diff --git a/src/main/drivers/compass_ak8963.c b/src/main/drivers/compass_ak8963.c
index 7b60fe5c4..0668fcdd7 100644
--- a/src/main/drivers/compass_ak8963.c
+++ b/src/main/drivers/compass_ak8963.c
@@ -30,8 +30,6 @@
 #include "common/maths.h"
 
 #include "system.h"
-#include "gpio.h"
-#include "exti.h"
 #include "bus_i2c.h"
 #include "bus_spi.h"
 

From 657564efa7907c34fa2e733e47379170189846c4 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Tue, 28 Jun 2016 19:47:00 +1000
Subject: [PATCH 22/54] Small tidy

---
 src/main/drivers/bus_i2c_stm32f30x.c | 8 ++++----
 src/main/sensors/compass.c           | 2 +-
 src/main/sensors/initialisation.c    | 4 ++--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index adb424390..145731667 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -31,6 +31,9 @@
 
 #ifndef SOFT_I2C
 
+#define I2C_HIGHSPEED_TIMING  0x00500E30  // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
+#define I2C_STANDARD_TIMING   0x00E0257A  // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
+
 #define I2C_SHORT_TIMEOUT   ((uint32_t)0x1000)
 #define I2C_LONG_TIMEOUT    ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
 #define I2C_GPIO_AF         GPIO_AF_4 
@@ -93,10 +96,7 @@ void i2cInit(I2CDevice device)
         .I2C_OwnAddress1 = 0x00,
         .I2C_Ack = I2C_Ack_Enable,
         .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-        .I2C_Timing = i2c->overClock ?
-            0x00500E30 : // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
-            0x00E0257A, // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
-        //.I2C_Timing              = 0x8000050B;
+        .I2C_Timing = (i2c->overClock ? I2C_HIGHSPEED_TIMING : I2C_STANDARD_TIMING)
     };
     
     I2C_Init(I2Cx, &i2cInit);
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index de075bfe2..cca2328c0 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -35,7 +35,7 @@
 #include "sensors/sensors.h"
 #include "sensors/compass.h"
 
-#ifdef NAZE
+#ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
 
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 2d96a0130..399ad7b84 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -499,11 +499,11 @@ static void detectMag(magSensor_e magHardwareToUse)
 #endif
 
 #ifdef MAG_INT_EXTI
-    static const hmc5883Config_t spRacingF3Hmc5883Config = {
+    static const hmc5883Config_t extiHmc5883Config = {
         .intTag = IO_TAG(MAG_INT_EXTI)
     };
 
-    hmc5883Config = &spRacingF3Hmc5883Config;
+	hmc5883Config = &extiHmc5883Config;
 #endif
 
 #endif

From c5071fcdad567ee7f20c98c2294e1af8a7b3e3ff Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Tue, 28 Jun 2016 21:07:04 +1000
Subject: [PATCH 23/54] USE_I2C_PULLUP now a potential define in target.h

---
 src/main/drivers/bus_i2c_stm32f30x.c | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index 145731667..cc78da8d6 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -31,6 +31,12 @@
 
 #ifndef SOFT_I2C
 
+#if defined(USE_I2C_PULLUP)
+#define IOCFG_I2C IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_OD, GPIO_PuPd_UP)
+#else
+#define IOCFG_I2C IOCFG_AF_OD
+#endif
+
 #define I2C_HIGHSPEED_TIMING  0x00500E30  // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
 #define I2C_STANDARD_TIMING   0x00E0257A  // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
 
@@ -86,8 +92,8 @@ void i2cInit(I2CDevice device)
     RCC_ClockCmd(i2c->rcc, ENABLE);
     RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK);
 
-    IOConfigGPIOAF(scl, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
-    IOConfigGPIOAF(sda, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
+    IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_4);
+    IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_4);
 
     I2C_InitTypeDef i2cInit = {
         .I2C_Mode = I2C_Mode_I2C,

From 32d5a664d5a7c5ecd87aa70115e8fb25446fdddd Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Tue, 28 Jun 2016 20:46:47 +0100
Subject: [PATCH 24/54] Fixed KISS VBAT and motor order

---
 src/main/target/KISSFC/target.c  | 20 ++++++++++----------
 src/main/target/KISSFC/target.h  | 10 +++++-----
 src/main/target/KISSFC/target.mk |  2 +-
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 30d03b9f6..db129454a 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -7,33 +7,33 @@
 
 const uint16_t multiPPM[] = {
     PWM7  | (MAP_TO_PPM_INPUT << 8),
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM11  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM12  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     0xFFFF
 };
 
 const uint16_t multiPWM[] = {
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM7  | (MAP_TO_PWM_INPUT << 8),
     PWM8  | (MAP_TO_PWM_INPUT << 8),
     PWM9  | (MAP_TO_PWM_INPUT << 8),
-    PWM10  | (MAP_TO_PWM_INPUT << 8),
-    PWM11  | (MAP_TO_PWM_INPUT << 8),
-    PWM12  | (MAP_TO_PWM_INPUT << 8),
+    PWM10 | (MAP_TO_PWM_INPUT << 8),
+    PWM11 | (MAP_TO_PWM_INPUT << 8),
+    PWM12 | (MAP_TO_PWM_INPUT << 8),
     0xFFFF
 };
 
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index 6d79046a7..f45fbe059 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -72,11 +72,11 @@
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
 
-//#define USE_ADC
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define VBAT_ADC_PIN                PA0
+//#define CURRENT_METER_ADC_PIN       PA5
+//#define RSSI_ADC_PIN                PB2
 
 
 #define SPEKTRUM_BIND
diff --git a/src/main/target/KISSFC/target.mk b/src/main/target/KISSFC/target.mk
index 56c635c92..6ed94fd46 100644
--- a/src/main/target/KISSFC/target.mk
+++ b/src/main/target/KISSFC/target.mk
@@ -1,5 +1,5 @@
 F3_TARGETS  += $(TARGET)
-FEATURES     = VCP 
+FEATURES    = VCP
 
 TARGET_SRC = \
             drivers/accgyro_mpu.c \

From a4788fa2ab033415e4fb9f603a1877b1ebb8e7d6 Mon Sep 17 00:00:00 2001
From: nathan <nathan@vertile.com>
Date: Mon, 27 Jun 2016 22:22:29 -0700
Subject: [PATCH 25/54] its betaflight, not raceflight :)

---
 src/main/vcpf4/usbd_desc.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/vcpf4/usbd_desc.c b/src/main/vcpf4/usbd_desc.c
index f9478327e..f3f9a3af9 100644
--- a/src/main/vcpf4/usbd_desc.c
+++ b/src/main/vcpf4/usbd_desc.c
@@ -57,7 +57,7 @@
   * @{
   */ 
 #define USBD_LANGID_STRING              0x409
-#define USBD_MANUFACTURER_STRING        "RaceFlight"
+#define USBD_MANUFACTURER_STRING        "BetaFlight"
 
 #ifdef USBD_PRODUCT_STRING
   #define USBD_PRODUCT_HS_STRING          USBD_PRODUCT_STRING

From e70d15114b013da8d0bda2150d406ab7392f2f81 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Wed, 29 Jun 2016 19:00:18 +1000
Subject: [PATCH 26/54] Fixed ADC issue with NAZE (and other F1 targets)

---
 src/main/drivers/adc.h           |  3 ++
 src/main/drivers/adc_stm32f10x.c | 44 +++++++++-------------
 src/main/drivers/adc_stm32f30x.c | 48 ++++++++----------------
 src/main/drivers/adc_stm32f4xx.c | 64 ++++++++++++++------------------
 src/main/drivers/rcc.c           |  8 ++--
 5 files changed, 68 insertions(+), 99 deletions(-)

diff --git a/src/main/drivers/adc.h b/src/main/drivers/adc.h
index f090c8fa8..55914a336 100644
--- a/src/main/drivers/adc.h
+++ b/src/main/drivers/adc.h
@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "io.h"
+
 typedef enum {
     ADC_BATTERY = 0,
     ADC_RSSI = 1,
@@ -28,6 +30,7 @@ typedef enum {
 #define ADC_CHANNEL_COUNT (ADC_CHANNEL_MAX + 1)
 
 typedef struct adc_config_s {
+    ioTag_t tag;
     uint8_t adcChannel;         // ADC1_INxx channel number
     uint8_t dmaIndex;           // index into DMA buffer in case of sparse channels
     bool enabled;
diff --git a/src/main/drivers/adc_stm32f10x.c b/src/main/drivers/adc_stm32f10x.c
index a810ac731..9d9474246 100644
--- a/src/main/drivers/adc_stm32f10x.c
+++ b/src/main/drivers/adc_stm32f10x.c
@@ -91,60 +91,50 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef VBAT_ADC_PIN
     if (init->enableVBat) {
-        IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_BATTERY].adcChannel = adcChannelByTag(IO_TAG(VBAT_ADC_PIN));
-        adcConfig[ADC_BATTERY].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_BATTERY].enabled = true;
-        adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_BATTERY].tag = IO_TAG(VBAT_ADC_PIN);
     }
 #endif
 
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
-        IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));
-        adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_RSSI].enabled = true;
-        adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_RSSI].tag = IO_TAG(RSSI_ADC_PIN);
     }
 #endif
 
 #ifdef EXTERNAL1_ADC_PIN
     if (init->enableExternal1) {
-        IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN));
-        adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_EXTERNAL1].enabled = true;
-        adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN);
     }
 #endif
 
 #ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
-        IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));
-        adcConfig[ADC_CURRENT].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_CURRENT].enabled = true;
-        adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);
     }
 #endif
 
     ADCDevice device = adcDeviceByInstance(ADC_INSTANCE);
     if (device == ADCINVALID)
         return;
-    
+
     adcDevice_t adc = adcHardware[device];  
+
+    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+        if (!adcConfig[i].tag)
+            continue;
+
+        IOInit(IOGetByTag(adcConfig[i].tag), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AIN, 0));
+        adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
+        adcConfig[i].dmaIndex = configuredAdcChannels++;
+        adcConfig[i].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[i].enabled = true;
+    }
     
     RCC_ADCCLKConfig(RCC_PCLK2_Div8);  // 9MHz from 72MHz APB2 clock(HSE), 8MHz from 64MHz (HSI)
     RCC_ClockCmd(adc.rccADC, ENABLE);
     RCC_ClockCmd(adc.rccDMA, ENABLE);
     
-    // FIXME ADC driver assumes all the GPIO was already placed in 'AIN' mode
-
     DMA_DeInit(adc.DMAy_Channelx);
     DMA_InitTypeDef DMA_InitStructure;
     DMA_StructInit(&DMA_InitStructure);
diff --git a/src/main/drivers/adc_stm32f30x.c b/src/main/drivers/adc_stm32f30x.c
index 8c2ccba5e..3fc7427b5 100644
--- a/src/main/drivers/adc_stm32f30x.c
+++ b/src/main/drivers/adc_stm32f30x.c
@@ -107,53 +107,25 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef VBAT_ADC_PIN
     if (init->enableVBat) {
-        IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_BATTERY].adcChannel = adcChannelByTag(IO_TAG(VBAT_ADC_PIN));
-        adcConfig[ADC_BATTERY].dmaIndex = adcChannelCount;
-        adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_BATTERY].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_BATTERY].tag = IO_TAG(VBAT_ADC_PIN);
     }
 #endif
 
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
-        IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));
-        adcConfig[ADC_RSSI].dmaIndex = adcChannelCount;
-        adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_RSSI].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_RSSI].tag = IO_TAG(RSSI_ADC_PIN);
     }
 #endif
 
 #ifdef CURRENT_METER_ADC_GPIO
     if (init->enableCurrentMeter) {
-        IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));
-        adcConfig[ADC_CURRENT].dmaIndex = adcChannelCount;
-        adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_CURRENT].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);
     }
 #endif
 
 #ifdef EXTERNAL1_ADC_GPIO
     if (init->enableExternal1) {
-        IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN));
-        adcConfig[ADC_EXTERNAL1].dmaIndex = adcChannelCount;
-        adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_EXTERNAL1].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN);
     }
 #endif
 
@@ -163,6 +135,18 @@ void adcInit(drv_adc_config_t *init)
     
     adcDevice_t adc = adcHardware[device];     
 
+    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+        if (!adcConfig[i].tag)
+            continue;
+
+        IOInit(IOGetByTag(adcConfig[i].tag), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
+        adcConfig[i].dmaIndex = adcChannelCount++;
+        adcConfig[i].sampleTime = ADC_SampleTime_601Cycles5;
+        adcConfig[i].enabled = true;
+    }
+
     RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256);  // 72 MHz divided by 256 = 281.25 kHz
     RCC_ClockCmd(adc.rccADC, ENABLE);
     RCC_ClockCmd(adc.rccDMA, ENABLE);
diff --git a/src/main/drivers/adc_stm32f4xx.c b/src/main/drivers/adc_stm32f4xx.c
index e4c086a60..e0b36a5f3 100644
--- a/src/main/drivers/adc_stm32f4xx.c
+++ b/src/main/drivers/adc_stm32f4xx.c
@@ -100,45 +100,25 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef VBAT_ADC_PIN
     if (init->enableVBat) {
-        IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_BATTERY].adcChannel = adcChannelByTag(IO_TAG(VBAT_ADC_PIN)); //VBAT_ADC_CHANNEL;
-        adcConfig[ADC_BATTERY].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_BATTERY].enabled = true;
-        adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_480Cycles;
-    }
-#endif
-
-#ifdef EXTERNAL1_ADC_PIN
-    if (init->enableExternal1) {
-        IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN)); //EXTERNAL1_ADC_CHANNEL;
-        adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_EXTERNAL1].enabled = true;
-        adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[ADC_BATTERY].tag = IO_TAG(VBAT_ADC_PIN); //VBAT_ADC_CHANNEL;
     }
 #endif
 
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
-        IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));  //RSSI_ADC_CHANNEL;
-        adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_RSSI].enabled = true;
-        adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[ADC_RSSI].tag = IO_TAG(RSSI_ADC_PIN);  //RSSI_ADC_CHANNEL;
+    }
+#endif
+    
+#ifdef EXTERNAL1_ADC_PIN
+    if (init->enableExternal1) {
+        adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN); //EXTERNAL1_ADC_CHANNEL;
     }
 #endif
 
 #ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
-        IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));  //CURRENT_METER_ADC_CHANNEL;
-        adcConfig[ADC_CURRENT].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_CURRENT].enabled = true;
-        adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);  //CURRENT_METER_ADC_CHANNEL;
     }
 #endif
 
@@ -150,6 +130,18 @@ void adcInit(drv_adc_config_t *init)
     
     adcDevice_t adc = adcHardware[device];   
     
+    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+        if (!adcConfig[i].tag)
+            continue;
+
+        IOInit(IOGetByTag(adcConfig[i].tag), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
+        adcConfig[i].dmaIndex = configuredAdcChannels++;
+        adcConfig[i].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[i].enabled = true;
+    }
+    
     RCC_ClockCmd(adc.rccDMA, ENABLE);
     RCC_ClockCmd(adc.rccADC, ENABLE);
 
@@ -174,20 +166,20 @@ void adcInit(drv_adc_config_t *init)
     ADC_CommonInitTypeDef ADC_CommonInitStructure;
 
     ADC_CommonStructInit(&ADC_CommonInitStructure);
-    ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
-    ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
-    ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
+    ADC_CommonInitStructure.ADC_Mode             = ADC_Mode_Independent;
+    ADC_CommonInitStructure.ADC_Prescaler        = ADC_Prescaler_Div8;
+    ADC_CommonInitStructure.ADC_DMAAccessMode    = ADC_DMAAccessMode_Disabled;
     ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
     ADC_CommonInit(&ADC_CommonInitStructure);
 
     ADC_StructInit(&ADC_InitStructure);
 
-    ADC_InitStructure.ADC_ContinuousConvMode    = ENABLE;
-    ADC_InitStructure.ADC_Resolution            = ADC_Resolution_12b;
+    ADC_InitStructure.ADC_ContinuousConvMode       = ENABLE;
+    ADC_InitStructure.ADC_Resolution               = ADC_Resolution_12b;
     ADC_InitStructure.ADC_ExternalTrigConv         = ADC_ExternalTrigConv_T1_CC1;
     ADC_InitStructure.ADC_ExternalTrigConvEdge     = ADC_ExternalTrigConvEdge_None;
-    ADC_InitStructure.ADC_DataAlign             = ADC_DataAlign_Right;
-    ADC_InitStructure.ADC_NbrOfConversion       = configuredAdcChannels;
+    ADC_InitStructure.ADC_DataAlign                = ADC_DataAlign_Right;
+    ADC_InitStructure.ADC_NbrOfConversion          = configuredAdcChannels;
     ADC_InitStructure.ADC_ScanConvMode             = configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
 
     ADC_Init(adc.ADCx, &ADC_InitStructure);
diff --git a/src/main/drivers/rcc.c b/src/main/drivers/rcc.c
index f8cc88b72..b1e759f97 100644
--- a/src/main/drivers/rcc.c
+++ b/src/main/drivers/rcc.c
@@ -7,7 +7,7 @@ void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     int tag = periphTag >> 5;
     uint32_t mask = 1 << (periphTag & 0x1f);
     switch (tag) {
-#if defined(STM32F303xC)
+#if defined(STM32F3) || defined(STM32F1)
     case RCC_AHB:
         RCC_AHBPeriphClockCmd(mask, NewState);
         break;
@@ -18,7 +18,7 @@ void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     case RCC_APB1:
         RCC_APB1PeriphClockCmd(mask, NewState);
         break;
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#if defined(STM32F4)
     case RCC_AHB1:
         RCC_AHB1PeriphClockCmd(mask, NewState);
         break;
@@ -31,7 +31,7 @@ void RCC_ResetCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     int tag = periphTag >> 5;
     uint32_t mask = 1 << (periphTag & 0x1f);
     switch (tag) {
-#if defined(STM32F303xC)
+#if defined(STM32F3) || defined(STM32F10X_CL)
     case RCC_AHB:
         RCC_AHBPeriphResetCmd(mask, NewState);
         break;
@@ -42,7 +42,7 @@ void RCC_ResetCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     case RCC_APB1:
         RCC_APB1PeriphResetCmd(mask, NewState);
         break;
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#if defined(STM32F4)
     case RCC_AHB1:
         RCC_AHB1PeriphResetCmd(mask, NewState);
         break;

From 72934e2be286e069b1ad9d971c34df4cb195b54d Mon Sep 17 00:00:00 2001
From: nathan <nathan@vertile.com>
Date: Wed, 29 Jun 2016 02:02:57 -0700
Subject: [PATCH 27/54] betaflight font mapping

accounts for logo at the end of the font file, starting at 0xA0
---
 src/main/drivers/max7456_symbols.h | 21 +++++++--------------
 1 file changed, 7 insertions(+), 14 deletions(-)

diff --git a/src/main/drivers/max7456_symbols.h b/src/main/drivers/max7456_symbols.h
index 68de42893..2030cb956 100644
--- a/src/main/drivers/max7456_symbols.h
+++ b/src/main/drivers/max7456_symbols.h
@@ -125,16 +125,9 @@
 #define SYM_MAG11 0xB6
 
 // AH Center screen Graphics
-//#define SYM_AH_CENTER 0x01
-#ifdef ALT_CENTER
-  #define SYM_AH_CENTER_LINE 0xB0
-  #define SYM_AH_CENTER 0xB1
-  #define SYM_AH_CENTER_LINE_RIGHT 0xB2
-#else
-  #define SYM_AH_CENTER_LINE 0x26
-  #define SYM_AH_CENTER 0x7E
-  #define SYM_AH_CENTER_LINE_RIGHT 0xBC
-#endif
+#define SYM_AH_CENTER_LINE 0x26
+#define SYM_AH_CENTER_LINE_RIGHT 0x27
+#define SYM_AH_CENTER 0x7E
 #define SYM_AH_RIGHT 0x02
 #define SYM_AH_LEFT 0x03
 #define SYM_AH_DECORATION_UP 0xC9
@@ -183,7 +176,7 @@
 #define SYM_FT 0x0F
 
 // Voltage and amperage
-#define SYM_VOLT 0xA9
+#define SYM_VOLT 0x00
 #define SYM_AMP 0x9A
 #define SYM_MAH 0xA4
 #define SYM_WATT 0x57
@@ -214,11 +207,11 @@
 #define SYM_FLY_H 0x71
 
 // Throttle Position (%)
-#define SYM_THR 0xC8
-#define SYM_THR1 0xC9
+#define SYM_THR 0x04
+#define SYM_THR1 0x05
 
 // RSSI
-#define SYM_RSSI 0xBA
+#define SYM_RSSI 0x01
 
 // Menu cursor
 #define SYM_CURSOR SYM_AH_LEFT

From 7bf60be27f99713d4431674279102861b96b8e59 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 29 Jun 2016 15:01:45 +0100
Subject: [PATCH 28/54] Configuable default VBAT settings

---
 src/main/config/config.c               | 3 ---
 src/main/sensors/battery.h             | 2 ++
 src/main/target/ALIENFLIGHTF3/target.h | 5 ++---
 src/main/target/KISSFC/target.h        | 3 +++
 src/main/target/SINGULARITY/target.h   | 1 +
 5 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 2c0c9c17d..284c59097 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -659,7 +659,6 @@ static void resetConf(void)
     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 #endif
 #ifdef ALIENFLIGHTF3
-    masterConfig.batteryConfig.vbatscale = 20;
     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 #endif
     masterConfig.rxConfig.serialrx_provider = SERIALRX_SPEKTRUM2048;
@@ -687,8 +686,6 @@ static void resetConf(void)
 
 #if defined(SINGULARITY)
     // alternative defaults settings for SINGULARITY target
-    masterConfig.batteryConfig.vbatscale = 77;
-
     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 #endif
 
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index 26e54eb4e..21197e07f 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -20,7 +20,9 @@
 #include "rx/rx.h"
 #include "common/maths.h"
 
+#ifndef VBAT_SCALE_DEFAULT
 #define VBAT_SCALE_DEFAULT 110
+#endif
 #define VBAT_RESDIVVAL_DEFAULT 10
 #define VBAT_RESDIVMULTIPLIER_DEFAULT 1
 #define VBAT_SCALE_MIN 0
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index 89e9c1a9c..ccef02d34 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
+#define ALIENFLIGHT
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
@@ -118,9 +119,7 @@
 #define ADC_INSTANCE         ADC2
 //#define BOARD_HAS_VOLTAGE_DIVIDER
 #define VBAT_ADC_PIN         PA4
-
-// alternative defaults for AlienFlight F3 target
-#define ALIENFLIGHT
+#define VBAT_SCALE_DEFAULT   20
 
 #define SPEKTRUM_BIND
 // USART2, PA3
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index f45fbe059..538dc653b 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -73,11 +73,14 @@
 #define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_ADC
+#define VBAT_SCALE_DEFAULT          164
 #define ADC_INSTANCE                ADC1
 #define VBAT_ADC_PIN                PA0
 //#define CURRENT_METER_ADC_PIN       PA5
 //#define RSSI_ADC_PIN                PB2
 
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_VBAT
 
 #define SPEKTRUM_BIND
 #define BIND_PIN   PB4
diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h
index 192971fd1..f58dcbe96 100644
--- a/src/main/target/SINGULARITY/target.h
+++ b/src/main/target/SINGULARITY/target.h
@@ -95,6 +95,7 @@
 
 #define ADC_INSTANCE                ADC2
 #define VBAT_ADC_PIN                PB2
+#define VBAT_SCALE_DEFAULT          77
 
 #define LED_STRIP
 #define LED_STRIP_TIMER TIM1

From 9059254db6ae6d0b527066f1e0e274e61e3f0bd7 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Tue, 28 Jun 2016 22:00:23 +0100
Subject: [PATCH 29/54] Minor tidy of sensor code

---
 src/main/drivers/accgyro_mpu6050.c |  2 --
 src/main/sensors/acceleration.h    |  3 +--
 src/main/sensors/barometer.h       |  6 ++----
 src/main/sensors/compass.h         | 10 ++++------
 src/main/sensors/gyro.c            |  6 +++++-
 src/main/sensors/gyro.h            |  3 ++-
 src/main/sensors/sensors.h         |  2 +-
 7 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index d4fa0fb84..3cc3ac8f6 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -38,8 +38,6 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu6050.h"
 
-extern uint8_t mpuLowPassFilter;
-
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
 // MPU6050, Standard address 0x68
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 9e56c2abe..dc98ae78e 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -29,10 +29,9 @@ typedef enum {
     ACC_MPU6000 = 7,
     ACC_MPU6500 = 8,
     ACC_FAKE = 9,
+    ACC_MAX = ACC_FAKE
 } accelerationSensor_e;
 
-#define ACC_MAX  ACC_FAKE
-
 extern sensor_align_e accAlign;
 extern acc_t acc;
 extern uint32_t accTargetLooptime;
diff --git a/src/main/sensors/barometer.h b/src/main/sensors/barometer.h
index 7ea2c1e5b..0ef2638ad 100644
--- a/src/main/sensors/barometer.h
+++ b/src/main/sensors/barometer.h
@@ -22,11 +22,11 @@ typedef enum {
     BARO_NONE = 1,
     BARO_BMP085 = 2,
     BARO_MS5611 = 3,
-    BARO_BMP280 = 4
+    BARO_BMP280 = 4,
+    BARO_MAX = BARO_BMP280
 } baroSensor_e;
 
 #define BARO_SAMPLE_COUNT_MAX   48
-#define BARO_MAX BARO_MS5611
 
 typedef struct barometerConfig_s {
     uint8_t baro_sample_count;              // size of baro filter array
@@ -38,7 +38,6 @@ typedef struct barometerConfig_s {
 extern int32_t BaroAlt;
 extern int32_t baroTemperature;             // Use temperature for telemetry
 
-#ifdef BARO
 void useBarometerConfig(barometerConfig_t *barometerConfigToUse);
 bool isBaroCalibrationComplete(void);
 void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
@@ -46,4 +45,3 @@ uint32_t baroUpdate(void);
 bool isBaroReady(void);
 int32_t baroCalculateAltitude(void);
 void performBaroCalibrationCycle(void);
-#endif
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index 0807ba410..2f5ae7d21 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -23,15 +23,13 @@ typedef enum {
     MAG_NONE = 1,
     MAG_HMC5883 = 2,
     MAG_AK8975 = 3,
-    MAG_AK8963 = 4
+    MAG_AK8963 = 4,
+    MAG_MAX = MAG_AK8963
 } magSensor_e;
 
-#define MAG_MAX  MAG_AK8963
-
-#ifdef MAG
 void compassInit(void);
-void updateCompass(flightDynamicsTrims_t *magZero);
-#endif
+union flightDynamicsTrims_u;
+void updateCompass(union flightDynamicsTrims_u *magZero);
 
 extern int32_t magADC[XYZ_AXIS_COUNT];
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 48113e934..c79d29013 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -41,7 +41,7 @@ sensor_align_e gyroAlign = 0;
 int32_t gyroADC[XYZ_AXIS_COUNT];
 float gyroADCf[XYZ_AXIS_COUNT];
 
-static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
+static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
 static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
 static uint8_t gyroSoftLpfHz;
@@ -160,5 +160,9 @@ void gyroUpdate(void)
             gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
             gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
+    } else {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            gyroADCf[axis] = gyroADC[axis];
+        }
     }
 }
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 54069b8a6..2239eb681 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -27,7 +27,8 @@ typedef enum {
     GYRO_MPU6000,
     GYRO_MPU6500,
     GYRO_MPU9250,
-    GYRO_FAKE
+    GYRO_FAKE,
+    GYRO_MAX = GYRO_FAKE
 } gyroSensor_e;
 
 extern gyro_t gyro;
diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
index 92e6907ee..f47b96d0b 100644
--- a/src/main/sensors/sensors.h
+++ b/src/main/sensors/sensors.h
@@ -34,7 +34,7 @@ typedef struct int16_flightDynamicsTrims_s {
     int16_t yaw;
 } flightDynamicsTrims_def_t;
 
-typedef union {
+typedef union flightDynamicsTrims_u {
     int16_t raw[3];
     flightDynamicsTrims_def_t values;
 } flightDynamicsTrims_t;

From d3b51f2360dd23155b00d5d54d22502924506599 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 29 Jun 2016 18:06:08 +0100
Subject: [PATCH 30/54] Added count to sensor index enums

---
 src/main/sensors/initialisation.c | 2 +-
 src/main/sensors/sensors.h        | 7 +++----
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 399ad7b84..0e75ad15f 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -81,7 +81,7 @@ extern baro_t baro;
 extern acc_t acc;
 extern sensor_align_e gyroAlign;
 
-uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
+uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
 
 
 const extiConfig_t *selectMPUIntExtiConfig(void)
diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
index f47b96d0b..9e6fdda92 100644
--- a/src/main/sensors/sensors.h
+++ b/src/main/sensors/sensors.h
@@ -21,12 +21,11 @@ typedef enum {
     SENSOR_INDEX_GYRO = 0,
     SENSOR_INDEX_ACC,
     SENSOR_INDEX_BARO,
-    SENSOR_INDEX_MAG
+    SENSOR_INDEX_MAG,
+    SENSOR_INDEX_COUNT
 } sensorIndex_e;
 
-#define MAX_SENSORS_TO_DETECT (SENSOR_INDEX_MAG + 1)
-
-extern uint8_t detectedSensors[MAX_SENSORS_TO_DETECT];
+extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
 
 typedef struct int16_flightDynamicsTrims_s {
     int16_t roll;

From c10129bc507a2cbc27af063e633ae2360b5557ad Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 29 Jun 2016 20:12:52 +0100
Subject: [PATCH 31/54] Combined timer output and inverted fields

---
 src/main/drivers/pwm_mapping.h            |  2 --
 src/main/drivers/pwm_output.c             |  4 +--
 src/main/drivers/timer.c                  |  2 +-
 src/main/drivers/timer.h                  |  7 +++--
 src/main/target/ALIENFLIGHTF3/target.c    | 28 +++++++++---------
 src/main/target/ALIENFLIGHTF4/target.c    | 26 ++++++++--------
 src/main/target/BLUEJAYF4/target.c        | 14 ++++-----
 src/main/target/CC3D/target.c             | 24 +++++++--------
 src/main/target/CHEBUZZF3/target.c        | 36 +++++++++++------------
 src/main/target/CJMCU/target.c            | 28 +++++++++---------
 src/main/target/COLIBRI_RACE/target.c     | 22 +++++++-------
 src/main/target/DOGE/target.c             | 18 ++++++------
 src/main/target/EUSTM32F103RC/target.c    | 28 +++++++++---------
 src/main/target/FURYF3/target.c           | 14 ++++-----
 src/main/target/FURYF4/target.c           | 12 ++++----
 src/main/target/IRCFUSIONF3/target.c      | 34 ++++++++++-----------
 src/main/target/KISSFC/target.c           | 24 +++++++--------
 src/main/target/LUX_RACE/target.c         | 22 +++++++-------
 src/main/target/MOTOLAB/target.c          | 18 ++++++------
 src/main/target/NAZE/target.c             | 28 +++++++++---------
 src/main/target/OLIMEXINO/target.c        | 28 +++++++++---------
 src/main/target/OMNIBUS/target.c          | 24 +++++++--------
 src/main/target/PIKOBLX/target.c          | 18 ++++++------
 src/main/target/PORT103R/target.c         | 28 +++++++++---------
 src/main/target/REVO/target.c             | 24 +++++++--------
 src/main/target/REVONANO/target.c         | 24 +++++++--------
 src/main/target/RMDO/target.c             | 34 ++++++++++-----------
 src/main/target/SINGULARITY/target.c      | 20 ++++++-------
 src/main/target/SIRINFPV/target.c         | 12 ++++----
 src/main/target/SPARKY/target.c           | 22 +++++++-------
 src/main/target/SPRACINGF3/target.c       | 34 ++++++++++-----------
 src/main/target/SPRACINGF3EVO/target.c    | 24 +++++++--------
 src/main/target/SPRACINGF3MINI/target.c   | 26 ++++++++--------
 src/main/target/STM32F3DISCOVERY/target.c | 28 +++++++++---------
 src/main/target/X_RACERSPI/target.c       | 34 ++++++++++-----------
 src/main/target/ZCOREF3/target.c          | 34 ++++++++++-----------
 36 files changed, 402 insertions(+), 403 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 5d577af8e..40aa5d4d2 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -93,8 +93,6 @@ typedef enum {
     PWM_PF_OUTPUT_PROTOCOL_ONESHOT = (1 << 4)
 } pwmPortFlags_e;
 
-enum {PWM_INVERTED = 1};
-
 typedef struct pwmPortConfiguration_s {
     uint8_t index;
     pwmPortFlags_e flags;
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index b44594938..277b47736 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -97,9 +97,9 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
     configTimeBase(timerHardware->tim, period, mhz);
     pwmGPIOConfig(timerHardware->tag, IOCFG_AF_PP);
 
-    pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->outputInverted);
+    pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output & TIMER_OUTPUT_INVERTED);
 
-    if (timerHardware->outputEnable) {
+    if (timerHardware->output & TIMER_OUTPUT_ENABLED) {
         TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
     }
     TIM_Cmd(timerHardware->tim, ENABLE);
diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index 6999a9798..37067ae25 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -456,7 +456,7 @@ void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHig
     if(outEnable) {
         TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
         TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
-        if (timHw->outputInverted) {
+        if (timHw->output & TIMER_OUTPUT_INVERTED) {
             stateHigh = !stateHigh;
         }
         TIM_OCInitStructure.TIM_OCPolarity = stateHigh ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index 0cd5f684e..cdc461c69 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -76,13 +76,14 @@ typedef struct timerHardware_s {
     ioTag_t tag;
     uint8_t channel;
     uint8_t irq;
-    uint8_t outputEnable;
+    uint8_t output;
     ioConfig_t ioMode;
 #if defined(STM32F3) || defined(STM32F4)
     uint8_t alternateFunction;
 #endif
-    uint8_t outputInverted;
 } timerHardware_t;
+enum {TIMER_OUTPUT_ENABLED = 0x01, TIMER_OUTPUT_INVERTED = 0x02};
+
 
 #ifdef STM32F1
 #if defined(STM32F10X_XL) || defined(STM32F10X_HD_VL)
@@ -147,4 +148,4 @@ void timerForceOverflow(TIM_TypeDef *tim);
 
 void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz);  // TODO - just for migration
 
-rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
\ No newline at end of file
+rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
diff --git a/src/main/target/ALIENFLIGHTF3/target.c b/src/main/target/ALIENFLIGHTF3/target.c
index 7b7e6c163..ad85d7b9b 100644
--- a/src/main/target/ALIENFLIGHTF3/target.c
+++ b/src/main/target/ALIENFLIGHTF3/target.c
@@ -52,33 +52,33 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // 6 x 3 pin headers
     //
 
-    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
-    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, 0}, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
+    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
+    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
 
     //
     // 6 pin header
     //
 
     // PWM7-10
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM9  - PA4  - *TIM3_CH2
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM9  - PA4  - *TIM3_CH2
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
 
     //
     // PPM PORT - Also USART2 RX (AF5)
     //
 
-    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,                0, IOCFG_IPD, GPIO_AF_1, 0} // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
-    //{ TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9, 0} // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
+    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,                0, IOCFG_IPD, GPIO_AF_1 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
+    //{ TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
 
     // USART3 RX/TX
     // RX conflicts with PPM port
-    //{ TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource11,  GPIO_AF_1, 0} // RX    - PB11 - *TIM2_CH4, USART3_RX (AF7) - PWM11
-    //{ TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource10,  GPIO_AF_1, 0} // TX    - PB10 - *TIM2_CH3, USART3_TX (AF7) - PWM12
+    //{ TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource11,  GPIO_AF_1 } // RX    - PB11 - *TIM2_CH4, USART3_RX (AF7) - PWM11
+    //{ TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource10,  GPIO_AF_1 } // TX    - PB10 - *TIM2_CH3, USART3_TX (AF7) - PWM12
 };
 
diff --git a/src/main/target/ALIENFLIGHTF4/target.c b/src/main/target/ALIENFLIGHTF4/target.c
index 054b27e81..e6024280f 100644
--- a/src/main/target/ALIENFLIGHTF4/target.c
+++ b/src/main/target/ALIENFLIGHTF4/target.c
@@ -73,19 +73,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1, 0},            // PWM1  - PA8  RC1
-    { TIM1, IO_TAG(PB0), TIM_Channel_2, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1, 0},            // PWM2  - PB0  RC2
-    { TIM1, IO_TAG(PB1), TIM_Channel_3, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1, 0},            // PWM3  - PB1  RC3
-    { TIM8, IO_TAG(PB14),TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8, 0},            // PWM4  - PA14 RC4
-    { TIM8, IO_TAG(PB15),TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8, 0},            // PWM5  - PA15 RC5
+    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 },            // PWM1  - PA8  RC1
+    { TIM1, IO_TAG(PB0), TIM_Channel_2, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 },            // PWM2  - PB0  RC2
+    { TIM1, IO_TAG(PB1), TIM_Channel_3, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 },            // PWM3  - PB1  RC3
+    { TIM8, IO_TAG(PB14),TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 },            // PWM4  - PA14 RC4
+    { TIM8, IO_TAG(PB15),TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 },            // PWM5  - PA15 RC5
 
-    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM4, 0},               // PWM6  - PB8  OUT1
-    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM4, 0},               // PWM7  - PB9  OUT2
-    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5, 0},               // PWM8  - PA0  OUT3
-    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5, 0},               // PWM9  - PA1  OUT4
-    { TIM3, IO_TAG(PC6), TIM_Channel_1, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3, 0},               // PWM10 - PC6  OUT5
-    { TIM3, IO_TAG(PC7), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3, 0},               // PWM11 - PC7  OUT6
-    { TIM3, IO_TAG(PC8), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3, 0},               // PWM13 - PC8  OUT7
-    { TIM3, IO_TAG(PC9), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3, 0},               // PWM13 - PC9  OUT8
+    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM4 },               // PWM6  - PB8  OUT1
+    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM4 },               // PWM7  - PB9  OUT2
+    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 },               // PWM8  - PA0  OUT3
+    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 },               // PWM9  - PA1  OUT4
+    { TIM3, IO_TAG(PC6), TIM_Channel_1, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },               // PWM10 - PC6  OUT5
+    { TIM3, IO_TAG(PC7), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },               // PWM11 - PC7  OUT6
+    { TIM3, IO_TAG(PC8), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },               // PWM13 - PC8  OUT7
+    { TIM3, IO_TAG(PC9), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },               // PWM13 - PC9  OUT8
 };
 
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index ff191e822..24df5a739 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -51,12 +51,12 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn,       0, IOCFG_IPD,    GPIO_AF_TIM8, 0 },             // PPM IN
-    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM5, 0 },             // S1_OUT
-    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM5, 0 },             // S2_OUT 
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM2, 0 },             // S3_OUT
-    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP,  GPIO_AF_TIM9, 0 },             // S4_OUT
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM3, 0 },             // S5_OUT
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM3, 0 },             // S6_OUT
+    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn,       0, IOCFG_IPD,    GPIO_AF_TIM8 }, // PPM IN
+    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM5 }, // S1_OUT
+    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM5 }, // S2_OUT
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM2 }, // S3_OUT
+    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP,  GPIO_AF_TIM9 }, // S4_OUT
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM3 }, // S5_OUT
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM3 }, // S6_OUT
 };
 
diff --git a/src/main/target/CC3D/target.c b/src/main/target/CC3D/target.c
index abfe089aa..c685f7e35 100644
--- a/src/main/target/CC3D/target.c
+++ b/src/main/target/CC3D/target.c
@@ -128,17 +128,17 @@ const uint16_t airPWM_BP6[] = {
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD,   0}, // S1_IN
-    { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD,   0}, // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / Sonar trigger
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD,   0}, // S3_IN - SoftSerial RX / Sonar echo / RSSI ADC
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD,   0}, // S4_IN - Current
-    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD,   0}, // S5_IN - Vbattery
-    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD,   0}, // S6_IN - PPM IN
-    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP, 0},    // S1_OUT
-    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP, 0},    // S2_OUT
-    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,    1, IOCFG_AF_PP, 0},    // S3_OUT
-    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, 0}, // S4_OUT
-    { TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn,    1, IOCFG_AF_PP, 0},    // S5_OUT - GPIO_PartialRemap_TIM3 - LED Strip
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,    1, IOCFG_AF_PP, 0}     // S6_OUT
+    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD },   // S1_IN
+    { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD },   // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / Sonar trigger
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD },   // S3_IN - SoftSerial RX / Sonar echo / RSSI ADC
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD },   // S4_IN - Current
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD },   // S5_IN - Vbattery
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD },   // S6_IN - PPM IN
+    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP }, // S1_OUT
+    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP }, // S2_OUT
+    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,    1, IOCFG_AF_PP }, // S3_OUT
+    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP }, // S4_OUT
+    { TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn,    1, IOCFG_AF_PP }, // S5_OUT - GPIO_PartialRemap_TIM3 - LED Strip
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,    1, IOCFG_AF_PP }  // S6_OUT
 };
 
diff --git a/src/main/target/CHEBUZZF3/target.c b/src/main/target/CHEBUZZF3/target.c
index 68e163dbf..132ff783f 100644
--- a/src/main/target/CHEBUZZF3/target.c
+++ b/src/main/target/CHEBUZZF3/target.c
@@ -73,23 +73,23 @@ const uint16_t airPWM[] = {
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // INPUTS CH1-8
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_6, 0}, // PWM1 - PA8
-    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM2 - PB8
-    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM3 - PB9
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, 0}, // PWM4 - PC6
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, 0}, // PWM5 - PC7
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, 0}, // PWM6 - PC8
-    { TIM15, IO_TAG(PF9),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     0, IOCFG_AF_PP_PD, GPIO_AF_3, 0}, // PWM7 - PF9
-    { TIM15, IO_TAG(PF10), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, IOCFG_AF_PP_PD, GPIO_AF_3, 0}, // PWM8 - PF10
-    { TIM4,  IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM9 - PD12
-    { TIM4,  IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM10 - PD13
-    { TIM4,  IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM11 - PD14
-    { TIM4,  IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM12 - PD15
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM13 - PA1
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM14 - PA2
-    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM15 - PA3
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM16 - PB0
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM17 - PB1
-    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}  // PWM18 - PA4
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_6 }, // PWM1 - PA8
+    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM2 - PB8
+    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM3 - PB9
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM4 - PC6
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM5 - PC7
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM6 - PC8
+    { TIM15, IO_TAG(PF9),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     0, IOCFG_AF_PP_PD, GPIO_AF_3 }, // PWM7 - PF9
+    { TIM15, IO_TAG(PF10), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, IOCFG_AF_PP_PD, GPIO_AF_3 }, // PWM8 - PF10
+    { TIM4,  IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM9 - PD12
+    { TIM4,  IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM10 - PD13
+    { TIM4,  IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM11 - PD14
+    { TIM4,  IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM12 - PD15
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM13 - PA1
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM14 - PA2
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM15 - PA3
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM16 - PB0
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM17 - PB1
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }  // PWM18 - PA4
 };
 
diff --git a/src/main/target/CJMCU/target.c b/src/main/target/CJMCU/target.c
index b84a10454..926f3efa0 100644
--- a/src/main/target/CJMCU/target.c
+++ b/src/main/target/CJMCU/target.c
@@ -38,19 +38,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_IPD, 0},          // PWM1 - RC1
-    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_IPD, 0},          // PWM2 - RC2
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_IPD, 0},          // PWM3 - RC3
-    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_IPD, 0},          // PWM4 - RC4
-    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_IPD, 0},          // PWM5 - RC5
-    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_IPD, 0},          // PWM6 - RC6
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_IPD, 0},          // PWM7 - RC7
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_IPD, 0},          // PWM8 - RC8
-    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD, 0},       // PWM9 - OUT1
-    { TIM1, IO_TAG(PA11),TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD, 0},       // PWM10 - OUT2
-    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 0, IOCFG_IPD, 0},          // PWM11 - OUT3
-    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 0, IOCFG_IPD, 0},          // PWM12 - OUT4
-    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 0, IOCFG_IPD, 0},          // PWM13 - OUT5
-    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 0, IOCFG_IPD, 0}           // PWM14 - OUT6
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_IPD },          // PWM1 - RC1
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_IPD },          // PWM2 - RC2
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_IPD },          // PWM3 - RC3
+    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_IPD },          // PWM4 - RC4
+    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_IPD },          // PWM5 - RC5
+    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_IPD },          // PWM6 - RC6
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_IPD },          // PWM7 - RC7
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_IPD },          // PWM8 - RC8
+    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD },       // PWM9 - OUT1
+    { TIM1, IO_TAG(PA11),TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD },       // PWM10 - OUT2
+    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 0, IOCFG_IPD },          // PWM11 - OUT3
+    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 0, IOCFG_IPD },          // PWM12 - OUT4
+    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 0, IOCFG_IPD },          // PWM13 - OUT5
+    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 0, IOCFG_IPD }           // PWM14 - OUT6
 };
 
diff --git a/src/main/target/COLIBRI_RACE/target.c b/src/main/target/COLIBRI_RACE/target.c
index 323a1e74d..675067e06 100644
--- a/src/main/target/COLIBRI_RACE/target.c
+++ b/src/main/target/COLIBRI_RACE/target.c
@@ -67,16 +67,16 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_6, 0}, // PWM1 - PA8
-    { TIM3,  IO_TAG(PC6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM2 - PC6
-    { TIM3,  IO_TAG(PC7),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM3 - PC7
-    { TIM3,  IO_TAG(PC8),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PMW4 - PC8
-    { TIM3,  IO_TAG(PC9),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM5 - PC9
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM6 - PA0
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM7 - PA1
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM8 - PA2
-    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM9 - PA3
-    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM10 - PB14
-    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM11 - PB15
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_6 }, // PWM1 - PA8
+    { TIM3,  IO_TAG(PC6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM2 - PC6
+    { TIM3,  IO_TAG(PC7),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM3 - PC7
+    { TIM3,  IO_TAG(PC8),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PMW4 - PC8
+    { TIM3,  IO_TAG(PC9),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM5 - PC9
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM6 - PA0
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM7 - PA1
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM8 - PA2
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM9 - PA3
+    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM10 - PB14
+    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM11 - PB15
 };
 
diff --git a/src/main/target/DOGE/target.c b/src/main/target/DOGE/target.c
index 958339b1c..ebd5e6f1f 100644
--- a/src/main/target/DOGE/target.c
+++ b/src/main/target/DOGE/target.c
@@ -58,17 +58,17 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP_PD,   GPIO_AF_6,  0}, // PWM1 - PA8
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP_PD,   GPIO_AF_6 }, // PWM1 - PA8
 
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_2,  0}, // PWM2 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_2,  0}, // PWM3 - PB9
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_2 }, // PWM2 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_2 }, // PWM3 - PB9
     
-    { TIM2,  IO_TAG(PA10), TIM_Channel_4, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_10, 0}, // PMW4 - PA10
-    { TIM2,  IO_TAG(PA9),  TIM_Channel_3, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_10, 0}, // PWM5 - PA9
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_1,  0}, // PWM6 - PA0
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_1,  0}, // PWM7 - PA1
+    { TIM2,  IO_TAG(PA10), TIM_Channel_4, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_10 }, // PMW4 - PA10
+    { TIM2,  IO_TAG(PA9),  TIM_Channel_3, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_10 }, // PWM5 - PA9
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_1 },  // PWM6 - PA0
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    1, IOCFG_AF_PP,      GPIO_AF_1 },  // PWM7 - PA1
 
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    1, IOCFG_AF_PP_PD,   GPIO_AF_2,  0}, // PWM8 - PB1
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    1, IOCFG_AF_PP_PD,   GPIO_AF_2,  0}, // PWM9 - PB0
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    1, IOCFG_AF_PP_PD,   GPIO_AF_2 },  // PWM8 - PB1
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    1, IOCFG_AF_PP_PD,   GPIO_AF_2 },  // PWM9 - PB0
 };
 
diff --git a/src/main/target/EUSTM32F103RC/target.c b/src/main/target/EUSTM32F103RC/target.c
index 2527bc389..6e1b4ae6b 100644
--- a/src/main/target/EUSTM32F103RC/target.c
+++ b/src/main/target/EUSTM32F103RC/target.c
@@ -72,19 +72,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,     0, IOCFG_IPD, 0 },  // PWM1 - RC1
-    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,     0, IOCFG_IPD, 0 },  // PWM2 - RC2
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,     0, IOCFG_IPD, 0 },  // PWM3 - RC3
-    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,     0, IOCFG_IPD, 0 },  // PWM4 - RC4
-    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn,     0, IOCFG_IPD, 0 },  // PWM5 - RC5
-    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn,     0, IOCFG_IPD, 0 },  // PWM6 - RC6
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,     0, IOCFG_IPD, 0 },  // PWM7 - RC7
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,     0, IOCFG_IPD, 0 },  // PWM8 - RC8
-    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn,  1, IOCFG_IPD, 0 },  // PWM9 - OUT1
-    { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD, 0 },  // PWM10 - OUT2
-    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,     0, IOCFG_IPD, 0 },  // PWM11 - OUT3
-    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,     0, IOCFG_IPD, 0 },  // PWM12 - OUT4
-    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,     0, IOCFG_IPD, 0 },  // PWM13 - OUT5
-    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,     0, IOCFG_IPD, 0 }   // PWM14 - OUT6
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,     0, IOCFG_IPD },  // PWM1 - RC1
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,     0, IOCFG_IPD },  // PWM2 - RC2
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,     0, IOCFG_IPD },  // PWM3 - RC3
+    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,     0, IOCFG_IPD },  // PWM4 - RC4
+    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn,     0, IOCFG_IPD },  // PWM5 - RC5
+    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn,     0, IOCFG_IPD },  // PWM6 - RC6
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,     0, IOCFG_IPD },  // PWM7 - RC7
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,     0, IOCFG_IPD },  // PWM8 - RC8
+    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn,  1, IOCFG_IPD },  // PWM9 - OUT1
+    { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD },  // PWM10 - OUT2
+    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,     0, IOCFG_IPD },  // PWM11 - OUT3
+    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,     0, IOCFG_IPD },  // PWM12 - OUT4
+    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,     0, IOCFG_IPD },  // PWM13 - OUT5
+    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,     0, IOCFG_IPD }   // PWM14 - OUT6
 };
 
diff --git a/src/main/target/FURYF3/target.c b/src/main/target/FURYF3/target.c
index 656c75e6d..4dc593bb3 100644
--- a/src/main/target/FURYF3/target.c
+++ b/src/main/target/FURYF3/target.c
@@ -52,15 +52,15 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // PPM IN
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // SS1 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // SS1 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PPM IN
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // SS1 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // SS1 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM4 - S1
-    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM5 - S2
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4 - S1
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - S2
     { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM6 - S3
-    { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM7 - S4
+    { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM7 - S4
  
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0}, // GPIO TIMER - LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO TIMER - LED_STRIP
 };
 
diff --git a/src/main/target/FURYF4/target.c b/src/main/target/FURYF4/target.c
index b6dbf5fe7..c5bb0486c 100644
--- a/src/main/target/FURYF4/target.c
+++ b/src/main/target/FURYF4/target.c
@@ -42,13 +42,13 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8, 0},          // PPM_IN
+    { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8 },          // PPM_IN
 
-    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9, 0},          // S1_OUT
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3, 0},          // S2_OUT
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3, 0},          // S3_OUT
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2, 0},          // S4_OUT
+    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 },          // S1_OUT
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 },          // S2_OUT
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 },          // S3_OUT
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2 },          // S4_OUT
 
-//  { TIM5, GPIOA, Pin_0, TIM_Channel_1, TIM5_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource0, GPIO_AF_TIM5, 0},    // LED Strip
+//  { TIM5, GPIOA, Pin_0, TIM_Channel_1, TIM5_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource0, GPIO_AF_TIM5 },    // LED Strip
 };
 
diff --git a/src/main/target/IRCFUSIONF3/target.c b/src/main/target/IRCFUSIONF3/target.c
index 7728a6f4f..7207468fa 100644
--- a/src/main/target/IRCFUSIONF3/target.c
+++ b/src/main/target/IRCFUSIONF3/target.c
@@ -81,22 +81,22 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
-    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM8 - PA3
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0},  // GPIO_TIMER / LED_STRIP
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM3 - PA11
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM4 - PA12
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index db129454a..60f2a0736 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -48,18 +48,18 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, PWM_INVERTED},
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, PWM_INVERTED},
-    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1, PWM_INVERTED},
-    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1, PWM_INVERTED},
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1, PWM_INVERTED},
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, PWM_INVERTED},
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_6},
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_2},
+    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
 
-    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, 0},
-    { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, 0},
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, 0},
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, 0},
-    { TIM4,  IO_TAG(PA13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP, GPIO_AF_10,0},
-    { TIM8,  IO_TAG(PA14), TIM_Channel_3, TIM8_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_5, 0},
+    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM4,  IO_TAG(PA13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP, GPIO_AF_10},
+    { TIM8,  IO_TAG(PA14), TIM_Channel_3, TIM8_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_5},
 };
 
diff --git a/src/main/target/LUX_RACE/target.c b/src/main/target/LUX_RACE/target.c
index b665072ac..e26bb2950 100644
--- a/src/main/target/LUX_RACE/target.c
+++ b/src/main/target/LUX_RACE/target.c
@@ -66,16 +66,16 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_6, 0}, // PWM1 - PA8
-    { TIM3,  IO_TAG(PC6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM2 - PC6
-    { TIM3,  IO_TAG(PC7),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM3 - PC7
-    { TIM3,  IO_TAG(PC8),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PMW4 - PC8
-    { TIM3,  IO_TAG(PC9),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM5 - PC9
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM6 - PA0
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM7 - PA1
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM8 - PA2
-    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM9 - PA3
-    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM10 - PB14
-    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM11 - PB15
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_6 }, // PWM1 - PA8
+    { TIM3,  IO_TAG(PC6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM2 - PC6
+    { TIM3,  IO_TAG(PC7),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM3 - PC7
+    { TIM3,  IO_TAG(PC8),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PMW4 - PC8
+    { TIM3,  IO_TAG(PC9),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM5 - PC9
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM6 - PA0
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM7 - PA1
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM8 - PA2
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM9 - PA3
+    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM10 - PB14
+    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM11 - PB15
 };
 
diff --git a/src/main/target/MOTOLAB/target.c b/src/main/target/MOTOLAB/target.c
index 47789fd4f..b624db7cc 100644
--- a/src/main/target/MOTOLAB/target.c
+++ b/src/main/target/MOTOLAB/target.c
@@ -42,14 +42,14 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM1  - PA4  - *TIM3_CH2
-    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM2  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM3  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM4  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM5  - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9, 0}, // PWM7  - PA3  - *TIM15_CH2, TIM2_CH4
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6, 0}, // PWM8  - PA8  - *TIM1_CH1, TIM4_ETR
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PPM   - PA7  - *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM1  - PA4  - *TIM3_CH2
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM2  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM3  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM4  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM5  - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9 }, // PWM7  - PA3  - *TIM15_CH2, TIM2_CH4
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6 }, // PWM8  - PA8  - *TIM1_CH1, TIM4_ETR
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PPM   - PA7  - *TIM17_CH1, TIM1_CH1N, TIM8_CH1
 };
 
diff --git a/src/main/target/NAZE/target.c b/src/main/target/NAZE/target.c
index 9e35b3a17..110ce3140 100644
--- a/src/main/target/NAZE/target.c
+++ b/src/main/target/NAZE/target.c
@@ -72,19 +72,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD, 0}, // PWM1 - RC1
-    { TIM2, IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD, 0}, // PWM2 - RC2
-    { TIM2, IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,    0, IOCFG_IPD, 0}, // PWM3 - RC3
-    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,    0, IOCFG_IPD, 0}, // PWM4 - RC4
-    { TIM3, IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_IPD, 0}, // PWM5 - RC5
-    { TIM3, IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD, 0}, // PWM6 - RC6
-    { TIM3, IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD, 0}, // PWM7 - RC7
-    { TIM3, IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD, 0}, // PWM8 - RC8
-    { TIM1, IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD, 0}, // PWM9 - OUT1
-    { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD, 0}, // PWM10 - OUT2
-    { TIM4, IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD, 0}, // PWM11 - OUT3
-    { TIM4, IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,    0, IOCFG_IPD, 0}, // PWM12 - OUT4
-    { TIM4, IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    0, IOCFG_IPD, 0}, // PWM13 - OUT5
-    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    0, IOCFG_IPD, 0}  // PWM14 - OUT6
+    { TIM2, IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD }, // PWM1 - RC1
+    { TIM2, IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD }, // PWM2 - RC2
+    { TIM2, IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,    0, IOCFG_IPD }, // PWM3 - RC3
+    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,    0, IOCFG_IPD }, // PWM4 - RC4
+    { TIM3, IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_IPD }, // PWM5 - RC5
+    { TIM3, IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD }, // PWM6 - RC6
+    { TIM3, IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD }, // PWM7 - RC7
+    { TIM3, IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD }, // PWM8 - RC8
+    { TIM1, IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM9 - OUT1
+    { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM10 - OUT2
+    { TIM4, IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD }, // PWM11 - OUT3
+    { TIM4, IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,    0, IOCFG_IPD }, // PWM12 - OUT4
+    { TIM4, IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    0, IOCFG_IPD }, // PWM13 - OUT5
+    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    0, IOCFG_IPD }  // PWM14 - OUT6
 };
 
diff --git a/src/main/target/OLIMEXINO/target.c b/src/main/target/OLIMEXINO/target.c
index 35bf464de..1b75af422 100644
--- a/src/main/target/OLIMEXINO/target.c
+++ b/src/main/target/OLIMEXINO/target.c
@@ -72,19 +72,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0,    IOCFG_IPD, 0},  // PWM1 - RC1
-    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0,    IOCFG_IPD, 0},  // PWM2 - RC2
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0,    IOCFG_IPD, 0},  // PWM3 - RC3
-    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0,    IOCFG_IPD, 0},  // PWM4 - RC4
-    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0,    IOCFG_IPD, 0},  // PWM5 - RC5
-    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn, 0,    IOCFG_IPD, 0},  // PWM6 - RC6
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0,    IOCFG_IPD, 0},  // PWM7 - RC7
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0,    IOCFG_IPD, 0},  // PWM8 - RC8
-    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD, 0},  // PWM9 - OUT1
-    { TIM1, IO_TAG(PA11),TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD, 0},  // PWM10 - OUT2
-    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 0,    IOCFG_IPD, 0},  // PWM11 - OUT3
-    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 0,    IOCFG_IPD, 0},  // PWM12 - OUT4
-    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 0,    IOCFG_IPD, 0},  // PWM13 - OUT5
-    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 0,    IOCFG_IPD, 0}   // PWM14 - OUT6
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0,    IOCFG_IPD },  // PWM1 - RC1
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0,    IOCFG_IPD },  // PWM2 - RC2
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0,    IOCFG_IPD },  // PWM3 - RC3
+    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0,    IOCFG_IPD },  // PWM4 - RC4
+    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0,    IOCFG_IPD },  // PWM5 - RC5
+    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn, 0,    IOCFG_IPD },  // PWM6 - RC6
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0,    IOCFG_IPD },  // PWM7 - RC7
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0,    IOCFG_IPD },  // PWM8 - RC8
+    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD },  // PWM9 - OUT1
+    { TIM1, IO_TAG(PA11),TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD },  // PWM10 - OUT2
+    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 0,    IOCFG_IPD },  // PWM11 - OUT3
+    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 0,    IOCFG_IPD },  // PWM12 - OUT4
+    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 0,    IOCFG_IPD },  // PWM13 - OUT5
+    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 0,    IOCFG_IPD }   // PWM14 - OUT6
 };
 
diff --git a/src/main/target/OMNIBUS/target.c b/src/main/target/OMNIBUS/target.c
index 1784dcf51..94250435a 100644
--- a/src/main/target/OMNIBUS/target.c
+++ b/src/main/target/OMNIBUS/target.c
@@ -66,24 +66,24 @@ const uint16_t airPWM[] = {
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // PPM Pad
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PPM - PB4
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PPM - PB4
     // PB5 / TIM3 CH2 is connected to USBPresent
 
     // Used by SPI1, MAX7456
-    //{ TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM1 - PA6
-    //{ TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM2 - PA7
+    //{ TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM1 - PA6
+    //{ TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM2 - PA7
 
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0},  // PWM3 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0},  // PWM4 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, 0},  // PWM5 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, 0},  // PWM6 - PA3
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM7 - PA0
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM8 - PA1
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM3 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM4 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM5 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM6 - PA3
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM7 - PA0
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM8 - PA1
 
     // UART3 RX/TX
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM9  - PB10 - TIM2_CH3 / USART3_TX (AF7)
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM10 - PB11 - TIM2_CH4 / USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM9  - PB10 - TIM2_CH3 / USART3_TX (AF7)
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PB11 - TIM2_CH4 / USART3_RX (AF7)
 
     // LED Strip Pad
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, 0},  // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 },  // GPIO_TIMER / LED_STRIP
 };
diff --git a/src/main/target/PIKOBLX/target.c b/src/main/target/PIKOBLX/target.c
index 47789fd4f..b624db7cc 100644
--- a/src/main/target/PIKOBLX/target.c
+++ b/src/main/target/PIKOBLX/target.c
@@ -42,14 +42,14 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM1  - PA4  - *TIM3_CH2
-    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM2  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM3  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM4  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM5  - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9, 0}, // PWM7  - PA3  - *TIM15_CH2, TIM2_CH4
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6, 0}, // PWM8  - PA8  - *TIM1_CH1, TIM4_ETR
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PPM   - PA7  - *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM1  - PA4  - *TIM3_CH2
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM2  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM3  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM4  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM5  - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9 }, // PWM7  - PA3  - *TIM15_CH2, TIM2_CH4
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6 }, // PWM8  - PA8  - *TIM1_CH1, TIM4_ETR
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PPM   - PA7  - *TIM17_CH1, TIM1_CH1N, TIM8_CH1
 };
 
diff --git a/src/main/target/PORT103R/target.c b/src/main/target/PORT103R/target.c
index 7e71ab1d6..42ce07bec 100644
--- a/src/main/target/PORT103R/target.c
+++ b/src/main/target/PORT103R/target.c
@@ -72,19 +72,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD, 0},   // PWM1 - RC1
-    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD, 0},   // PWM2 - RC2
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,    0, IOCFG_IPD, 0},   // PWM3 - RC3
-    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,    0, IOCFG_IPD, 0},   // PWM4 - RC4
-    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn,    0, IOCFG_IPD, 0},   // PWM5 - RC5
-    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD, 0},   // PWM6 - RC6
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD, 0},   // PWM7 - RC7
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD, 0},   // PWM8 - RC8
-    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD, 0},   // PWM9 - OUT1
-    { TIM1, IO_TAG(PA11),TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD, 0},   // PWM10 - OUT2
-    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD, 0},   // PWM11 - OUT3
-    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,    0, IOCFG_IPD, 0},   // PWM12 - OUT4
-    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,    0, IOCFG_IPD, 0},   // PWM13 - OUT5
-    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,    0, IOCFG_IPD, 0}    // PWM14 - OUT6
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD },   // PWM1 - RC1
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD },   // PWM2 - RC2
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,    0, IOCFG_IPD },   // PWM3 - RC3
+    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,    0, IOCFG_IPD },   // PWM4 - RC4
+    { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn,    0, IOCFG_IPD },   // PWM5 - RC5
+    { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD },   // PWM6 - RC6
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD },   // PWM7 - RC7
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD },   // PWM8 - RC8
+    { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD },   // PWM9 - OUT1
+    { TIM1, IO_TAG(PA11),TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD },   // PWM10 - OUT2
+    { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD },   // PWM11 - OUT3
+    { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,    0, IOCFG_IPD },   // PWM12 - OUT4
+    { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,    0, IOCFG_IPD },   // PWM13 - OUT5
+    { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,    0, IOCFG_IPD }    // PWM14 - OUT6
 };
 
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index be834daf3..b32c5175f 100644
--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@@ -71,19 +71,19 @@ const uint16_t airPWM[] = {
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM12, 0}, // PPM (5th pin on FlexiIO port)
-    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM12, 0}, // S2_IN - GPIO_PartialRemap_TIM3
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8,  0}, // S3_IN
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8,  0}, // S4_IN
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8,  0}, // S5_IN
-    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8,  0}, // S6_IN
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port)
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S4_IN
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S5_IN
+    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S6_IN
  
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3,  0}, // S1_OUT
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3,  0}, // S2_OUT
-    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM9,  0}, // S3_OUT
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM2,  0}, // S4_OUT
-    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5,  0}, // S5_OUT - GPIO_PartialRemap_TIM3
-    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5,  0}, // S6_OUT
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S1_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S2_OUT
+    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM9 }, // S3_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM2 }, // S4_OUT
+    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
+    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S6_OUT
 };
 
 
diff --git a/src/main/target/REVONANO/target.c b/src/main/target/REVONANO/target.c
index 8e5db9def..53d404217 100644
--- a/src/main/target/REVONANO/target.c
+++ b/src/main/target/REVONANO/target.c
@@ -86,18 +86,18 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM2, 0},  // PPM
-    { TIM3, IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3, 0},  // S2_IN
-    { TIM3, IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3, 0},  // S3_IN
-    { TIM3, IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3, 0},  // S4_IN
-    { TIM3, IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3, 0},  // S5_IN
-    { TIM2, IO_TAG(PA5),  TIM_Channel_1, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM2, 0},  // S6_IN
-    { TIM1, IO_TAG(PA10), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1, 0},  // S1_OUT
-    { TIM2, IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2, 0},  // S2_OUT
-    { TIM4, IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM4, 0},  // S3_OUT
-    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM4, 0},  // S4_OUT
-    { TIM5, IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM5, 0},  // S5_OUT
-    { TIM5, IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM5, 0},  // S6_OUT
+    { TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM2 },  // PPM
+    { TIM3, IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3 },  // S2_IN
+    { TIM3, IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3 },  // S3_IN
+    { TIM3, IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3 },  // S4_IN
+    { TIM3, IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3 },  // S5_IN
+    { TIM2, IO_TAG(PA5),  TIM_Channel_1, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM2 },  // S6_IN
+    { TIM1, IO_TAG(PA10), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1 },  // S1_OUT
+    { TIM2, IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2 },  // S2_OUT
+    { TIM4, IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM4 },  // S3_OUT
+    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM4 },  // S4_OUT
+    { TIM5, IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM5 },  // S5_OUT
+    { TIM5, IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM5 },  // S6_OUT
 };
 
 
diff --git a/src/main/target/RMDO/target.c b/src/main/target/RMDO/target.c
index 7728a6f4f..eaeb18fca 100644
--- a/src/main/target/RMDO/target.c
+++ b/src/main/target/RMDO/target.c
@@ -81,22 +81,22 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
-    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM8 - PA3
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0},  // GPIO_TIMER / LED_STRIP
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 },  // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 },  // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 },  // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 },  // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 },  // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 },  // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 },  // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 },  // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 }, // PWM3 - PA11
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 }, // PWM4 - PA12
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM8 - PA3
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 },  // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/SINGULARITY/target.c b/src/main/target/SINGULARITY/target.c
index fe6106ec9..645bd323f 100644
--- a/src/main/target/SINGULARITY/target.c
+++ b/src/main/target/SINGULARITY/target.c
@@ -60,15 +60,15 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, 0}, // PPM/SERIAL RX
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM3
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM4
-    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM5
-    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM6
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, 0}, // SOFTSERIAL1 RX (NC)
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, 0}, // SOFTSERIAL1 TX
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, 0}, // LED_STRIP
+    { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PPM/SERIAL RX
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM3
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4
+    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM5
+    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // SOFTSERIAL1 RX (NC)
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // SOFTSERIAL1 TX
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // LED_STRIP
 };
 
diff --git a/src/main/target/SIRINFPV/target.c b/src/main/target/SIRINFPV/target.c
index 4ac409d39..dfe1517fb 100644
--- a/src/main/target/SIRINFPV/target.c
+++ b/src/main/target/SIRINFPV/target.c
@@ -49,13 +49,13 @@ const uint16_t airPWM[] = {
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 
-    { TIM4,  IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM1 - PB6
-    { TIM4,  IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM2 - PB6
-    { TIM4,  IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0},  // PWM3 - PB8
-    { TIM4,  IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0},  // PWM4 - PB9
+    { TIM4,  IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM1 - PB6
+    { TIM4,  IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM2 - PB6
+    { TIM4,  IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM3 - PB8
+    { TIM4,  IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM4 - PB9
 
-    { TIM3,  IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM5 - PB0  - *TIM3_CH3
-    { TIM3,  IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM6 - PB1  - *TIM3_CH4
+    { TIM3,  IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB0  - *TIM3_CH3
+    { TIM3,  IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB1  - *TIM3_CH4
 
 };
 
diff --git a/src/main/target/SPARKY/target.c b/src/main/target/SPARKY/target.c
index 41fe8f2b8..d5ecdcc96 100644
--- a/src/main/target/SPARKY/target.c
+++ b/src/main/target/SPARKY/target.c
@@ -48,18 +48,18 @@ const uint16_t airPWM[] = {
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // 6 3-pin headers
-    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
-    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6, 0}, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
+    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
+    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6 }, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
     // PWM7 - PMW10
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM9  - PA4  - *TIM3_CH2
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM9  - PA4  - *TIM3_CH2
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
     // PPM PORT - Also USART2 RX (AF5)
-    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_1, 0} // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_1 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
 };
 
diff --git a/src/main/target/SPRACINGF3/target.c b/src/main/target/SPRACINGF3/target.c
index ddebee117..122f07bb0 100644
--- a/src/main/target/SPRACINGF3/target.c
+++ b/src/main/target/SPRACINGF3/target.c
@@ -82,25 +82,25 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
     // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
-    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM8 - PA3
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM3 - PA11
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM4 - PA12
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0}, // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/SPRACINGF3EVO/target.c b/src/main/target/SPRACINGF3EVO/target.c
index a4b8890d9..1ac9743d3 100644
--- a/src/main/target/SPRACINGF3EVO/target.c
+++ b/src/main/target/SPRACINGF3EVO/target.c
@@ -67,17 +67,17 @@ const uint16_t airPWM[] = {
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // PPM / UART2 RX
-    { TIM8,  IO_TAG(PA15), TIM_Channel_1, TIM8_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_2, 0},  // PPM
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0},  // PWM1
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0},  // PWM2
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9, 0},  // PWM3
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9, 0},  // PWM4
-    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0},  // PWM5
-    { TIM3,  IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0},  // PWM6
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0},  // PWM7
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0},  // PWM8
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6, 0},  // GPIO_TIMER / LED_STRIP
+    { TIM8,  IO_TAG(PA15), TIM_Channel_1, TIM8_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_2 },  // PPM
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 },  // PWM1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 },  // PWM2
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9 },  // PWM3
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9 },  // PWM4
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM5
+    { TIM3,  IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM6
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM7
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM8
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6 },  // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/SPRACINGF3MINI/target.c b/src/main/target/SPRACINGF3MINI/target.c
index 6a0262020..bc0d06cee 100644
--- a/src/main/target/SPRACINGF3MINI/target.c
+++ b/src/main/target/SPRACINGF3MINI/target.c
@@ -68,27 +68,27 @@ const uint16_t airPWM[] = {
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // PPM Pad
 #ifdef SPRACINGF3MINI_MKII_REVA
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PPM - PB5
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PPM - PB5
     // PB4 / TIM3 CH1 is connected to USBPresent
 #else
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PPM - PB4
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PPM - PB4
     // PB5 / TIM3 CH2 is connected to USBPresent
 #endif
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM1 - PA6
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM2 - PA7
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0},  // PWM3 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, 0},  // PWM4 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, 0},  // PWM5 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, 0},  // PWM6 - PA3
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM7 - PA0
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0},  // PWM8 - PA1
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM1 - PA6
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM2 - PA7
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM3 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM4 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM5 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM6 - PA3
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM7 - PA0
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM8 - PA1
 
     // UART3 RX/TX
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM9  - PB10 - TIM2_CH3 / USART3_TX (AF7)
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM10 - PB11 - TIM2_CH4 / USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM9  - PB10 - TIM2_CH3 / USART3_TX (AF7)
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PB11 - TIM2_CH4 / USART3_RX (AF7)
 
     // LED Strip Pad
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, 0},  // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 },  // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/STM32F3DISCOVERY/target.c b/src/main/target/STM32F3DISCOVERY/target.c
index 1d2e615ea..dcf2426ce 100644
--- a/src/main/target/STM32F3DISCOVERY/target.c
+++ b/src/main/target/STM32F3DISCOVERY/target.c
@@ -73,19 +73,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_6, 0}, // PWM1 - PA8
-    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM2 - PB8
-    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1, 0}, // PWM3 - PB9
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, 0}, // PWM4 - PC6
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, 0}, // PWM5 - PC7
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, 0}, // PWM6 - PC8
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, 0}, // PWM7 - PB1
-    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, 0}, // PWM8 - PA2
-    { TIM4,  IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM9 - PD12
-    { TIM4,  IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM10 - PD13
-    { TIM4,  IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM11 - PD14
-    { TIM4,  IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PWM12 - PD15
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PWM13 - PA1
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, 0}  // PWM14 - PA2
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_6 }, // PWM1 - PA8
+    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM2 - PB8
+    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM3 - PB9
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM4 - PC6
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM5 - PC7
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM6 - PC8
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2 }, // PWM7 - PB1
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2 }, // PWM8 - PA2
+    { TIM4,  IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM9 - PD12
+    { TIM4,  IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM10 - PD13
+    { TIM4,  IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM11 - PD14
+    { TIM4,  IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM12 - PD15
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM13 - PA1
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }  // PWM14 - PA2
 };
 
diff --git a/src/main/target/X_RACERSPI/target.c b/src/main/target/X_RACERSPI/target.c
index 9c0bd0403..f2ad959f8 100644
--- a/src/main/target/X_RACERSPI/target.c
+++ b/src/main/target/X_RACERSPI/target.c
@@ -82,24 +82,24 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0}, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
-    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0}, // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0}, // PWM8 - PA3
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM3 - PA11
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM4 - PA12
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0}, // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
 };
 
diff --git a/src/main/target/ZCOREF3/target.c b/src/main/target/ZCOREF3/target.c
index e3b40ee63..a3cfdc733 100644
--- a/src/main/target/ZCOREF3/target.c
+++ b/src/main/target/ZCOREF3/target.c
@@ -81,24 +81,24 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1,  0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0},  // PWM3 - PA11
-    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, 0},  // PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  0},  // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9,  0},  // PWM8 - PA3
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 }, // PWM3 - PA11
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 }, // PWM4 - PA12
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM8 - PA3
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6,  0},  // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 },  // GPIO_TIMER / LED_STRIP
 };
 

From ceb9ef2db277098d721df482e6937ea7e589e413 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Thu, 30 Jun 2016 08:32:40 +0100
Subject: [PATCH 32/54] Added facility to set rx serial provider in for target.

---
 src/main/config/config.c               | 30 +++++++++++++++-----------
 src/main/target/ALIENFLIGHTF3/target.h |  5 +++--
 src/main/target/ALIENFLIGHTF4/target.h |  5 +++--
 src/main/target/FURYF3/target.h        |  4 ++--
 src/main/target/FURYF4/target.h        |  7 +++---
 src/main/target/KISSFC/target.h        |  5 +++--
 src/main/target/NAZE/target.h          | 16 ++++++++------
 src/main/target/SPRACINGF3/target.h    |  4 ++--
 8 files changed, 42 insertions(+), 34 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 284c59097..5bcd1e923 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -268,8 +268,13 @@ void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 
 void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
 {
+#ifdef BRUSHED_MOTORS
+    escAndServoConfig->minthrottle = 1000;
+    escAndServoConfig->maxthrottle = 2000;
+#else
     escAndServoConfig->minthrottle = 1150;
     escAndServoConfig->maxthrottle = 1850;
+#endif
     escAndServoConfig->mincommand = 1000;
     escAndServoConfig->servoCenterPulse = 1500;
     escAndServoConfig->escDesyncProtection = 0;
@@ -415,8 +420,6 @@ uint16_t getCurrentMinthrottle(void)
 // Default settings
 static void resetConf(void)
 {
-    int i;
-
     // Clear all configuration
     memset(&masterConfig, 0, sizeof(master_t));
     setProfile(0);
@@ -477,7 +480,11 @@ static void resetConf(void)
 
     resetTelemetryConfig(&masterConfig.telemetryConfig);
 
+#ifdef SERIALRX_PROVIDER
+    masterConfig.rxConfig.serialrx_provider = SERIALRX_PROVIDER;
+#else
     masterConfig.rxConfig.serialrx_provider = 0;
+#endif
     masterConfig.rxConfig.sbus_inversion = 1;
     masterConfig.rxConfig.spektrum_sat_bind = 0;
     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
@@ -487,7 +494,7 @@ static void resetConf(void)
     masterConfig.rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
     masterConfig.rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
 
-    for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
+    for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
         rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
         channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
         channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
@@ -549,8 +556,7 @@ static void resetConf(void)
 
     resetPidProfile(&currentProfile->pidProfile);
     
-    uint8_t rI;
-    for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
+    for (int rI = 0; rI<MAX_RATEPROFILES; rI++) {
         resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
     }
     resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
@@ -581,7 +587,7 @@ static void resetConf(void)
 
 #ifdef USE_SERVOS
     // servos
-    for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+    for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
         masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
         masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
@@ -600,8 +606,9 @@ static void resetConf(void)
 #endif
 
     // custom mixer. clear by defaults.
-    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
         masterConfig.customMotorMixer[i].throttle = 0.0f;
+    }
 
 #ifdef LED_STRIP
     applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);
@@ -650,7 +657,7 @@ static void resetConf(void)
 #if defined(TARGET_CONFIG)
     targetConfiguration(&masterConfig);
 #endif
-    
+
 #if defined(ALIENFLIGHT) 
     featureClear(FEATURE_ONESHOT125);
 #ifdef ALIENFLIGHTF1
@@ -661,11 +668,8 @@ static void resetConf(void)
 #ifdef ALIENFLIGHTF3
     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 #endif
-    masterConfig.rxConfig.serialrx_provider = SERIALRX_SPEKTRUM2048;
     masterConfig.rxConfig.spektrum_sat_bind = 5;
     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
-    masterConfig.escAndServoConfig.minthrottle = 1000;
-    masterConfig.escAndServoConfig.maxthrottle = 2000;
     masterConfig.motor_pwm_rate = 32000;
     masterConfig.failsafeConfig.failsafe_delay = 2;
     masterConfig.failsafeConfig.failsafe_off_delay = 0;
@@ -690,7 +694,7 @@ static void resetConf(void)
 #endif
 
     // copy first profile into remaining profile
-    for (i = 1; i < MAX_PROFILE_COUNT; i++) {
+    for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
     }
 
@@ -802,7 +806,7 @@ void activateConfig(void)
 void validateAndFixConfig(void)
 {
     if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
-        featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
+        featureSet(DEFAULT_RX_FEATURE);
     }
 
     if (featureConfigured(FEATURE_RX_PPM)) {
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index ccef02d34..a5d1b042f 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -130,8 +130,9 @@
 #define BINDPLUG_PIN   PB12
 
 #define BRUSHED_MOTORS
-#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES FEATURE_MOTOR_STOP
+#define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 3bc3e20d2..d5122a486 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -173,8 +173,9 @@
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
 #define BRUSHED_MOTORS
-#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
+#define DEFAULT_FEATURES        (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index f849070b7..9075271c1 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -175,8 +175,8 @@
 #define SONAR_ECHO_PIN      PB1
 #define SONAR_TRIGGER_PIN   PB0
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 #define SPEKTRUM_BIND
 // USART3,
diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h
index a6586c95c..397206c9b 100644
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@@ -19,10 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "FYF4" //Call it a revo for now so it connects to RFC for testing.
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
-#define CONFIG_SERIALRX_PROVIDER SERIALRX_SBUS
 #define CONFIG_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
-#define CONFIG_FEATURE_RX_SERIAL
-#define CONFIG_FEATURE_ONESHOT125
 #define CONFIG_MSP_PORT 2
 #define CONFIG_RX_SERIAL_PORT 1
 
@@ -148,7 +145,9 @@
 #define RSSI_ADC_GPIO_PIN           PC2
 #define CURRENT_METER_ADC_PIN       PC3
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
 
 #define TARGET_IO_PORTA 0xffff
 #define TARGET_IO_PORTB 0xffff
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index 538dc653b..9095ef701 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -79,8 +79,9 @@
 //#define CURRENT_METER_ADC_PIN       PA5
 //#define RSSI_ADC_PIN                PB2
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_VBAT
+#define DEFAULT_FEATURES        FEATURE_VBAT
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS;
 
 #define SPEKTRUM_BIND
 #define BIND_PIN   PB4
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index 95f531faf..df73f8e4f 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -167,22 +167,24 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-// alternative defaults for AlienFlight F1 target
 #ifdef ALIENFLIGHTF1
+// alternative defaults for AlienFlight F1 target
 #undef TARGET_BOARD_IDENTIFIER
 #define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
-#undef BOARD_HAS_VOLTAGE_DIVIDER
-
-// alternative defaults for AlienFlight F1 target
 #define ALIENFLIGHT
 
+#undef BOARD_HAS_VOLTAGE_DIVIDER
+#undef USE_SERIAL_4WAY_BLHELI_INTERFACE
+
 #define BRUSHED_MOTORS
-#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP)
+#define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
 
 #define HARDWARE_BIND_PLUG
 // Hardware bind plug at PB5 (Pin 41)
-#define BINDPLUG_PIN   PB5
-#endif
+#define BINDPLUG_PIN            PB5
+#endif // ALIENFLIGHTF1
 
 // IO - assuming all IOs on 48pin package
 #define TARGET_IO_PORTA 0xffff
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index a4f44762d..7b2a365a5 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -138,8 +138,8 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
 
 #define SPEKTRUM_BIND
 // USART3,

From d74214e75ac0f3468910c0128d66ed00a479054c Mon Sep 17 00:00:00 2001
From: nathan <nathan@vertile.com>
Date: Fri, 1 Jul 2016 01:30:04 -0700
Subject: [PATCH 33/54] 0x00 is reserved for string null byte termination, move
 the voltage symbol to 0x06

---
 src/main/drivers/max7456_symbols.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/max7456_symbols.h b/src/main/drivers/max7456_symbols.h
index 2030cb956..b2e8da72b 100644
--- a/src/main/drivers/max7456_symbols.h
+++ b/src/main/drivers/max7456_symbols.h
@@ -176,7 +176,7 @@
 #define SYM_FT 0x0F
 
 // Voltage and amperage
-#define SYM_VOLT 0x00
+#define SYM_VOLT 0x06
 #define SYM_AMP 0x9A
 #define SYM_MAH 0xA4
 #define SYM_WATT 0x57

From d0f060175cda9cf3ca047fbf5f986cec3d827366 Mon Sep 17 00:00:00 2001
From: Anders Hoglund <AndWho@gmail.com>
Date: Fri, 1 Jul 2016 12:10:45 +0200
Subject: [PATCH 34/54] Ignore linker wchar size warnings.

---
 Makefile | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Makefile b/Makefile
index b8c891ef6..e41d2d19e 100644
--- a/Makefile
+++ b/Makefile
@@ -600,6 +600,7 @@ LDFLAGS     = -lm \
               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
               -Wl,-L$(LINKER_DIR) \
               -Wl,--cref \
+              -Wl,--no-wchar-size-warning \
               -T$(LD_SCRIPT)
 
 ###############################################################################

From 924c891bf1f26000b60b6411882aeb74062b9706 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 2 Jul 2016 14:38:04 +1000
Subject: [PATCH 35/54] Update to LED STRIP to use new IO

---
 src/main/config/config.c                      |   4 +-
 src/main/drivers/light_ws2811strip.c          |  16 +-
 .../drivers/light_ws2811strip_stm32f10x.c     |  52 +++---
 .../drivers/light_ws2811strip_stm32f30x.c     |  61 +++----
 .../drivers/light_ws2811strip_stm32f4xx.c     | 150 ++++++++++++------
 src/main/drivers/pwm_mapping.c                |  18 +--
 src/main/drivers/timer.c                      |  12 ++
 src/main/drivers/timer.h                      |  12 +-
 src/main/drivers/timer_stm32f30x.c            |  20 +--
 src/main/drivers/timer_stm32f4xx.c            |  28 ++--
 src/main/io/ledstrip.c                        |   8 +-
 src/main/io/ledstrip.h                        |   2 +-
 src/main/io/serial_msp.c                      |   2 +-
 src/main/scheduler/scheduler_tasks.c          |   4 +-
 src/main/target/ALIENFLIGHTF4/target.h        |   8 +-
 src/main/target/BLUEJAYF4/target.h            |  13 ++
 src/main/target/BLUEJAYF4/target.mk           |   4 +-
 src/main/target/CC3D/target.h                 |   9 +-
 src/main/target/COLIBRI_RACE/i2c_bst.c        |   2 +-
 src/main/target/COLIBRI_RACE/target.h         |   9 +-
 src/main/target/DOGE/target.h                 |   8 +-
 src/main/target/EUSTM32F103RC/target.h        |   3 -
 src/main/target/FURYF3/target.h               |   8 +-
 src/main/target/LUX_RACE/target.h             |   9 +-
 src/main/target/MOTOLAB/target.h              |   8 +-
 src/main/target/NAZE/target.h                 |   3 +-
 src/main/target/OLIMEXINO/target.h            |   6 -
 src/main/target/OMNIBUS/target.h              |   8 +-
 src/main/target/PIKOBLX/target.h              |   8 +-
 src/main/target/PORT103R/target.h             |   3 -
 src/main/target/REVO/target.h                 |   2 -
 src/main/target/REVONANO/target.h             |   6 -
 src/main/target/RMDO/target.h                 |   8 +-
 src/main/target/SINGULARITY/target.h          |   8 +-
 src/main/target/SPARKY/target.h               |   9 +-
 src/main/target/SPRACINGF3/target.h           |   8 +-
 src/main/target/SPRACINGF3EVO/target.h        |   9 +-
 src/main/target/SPRACINGF3MINI/target.h       |   9 +-
 src/main/target/STM32F3DISCOVERY/target.h     |   8 +-
 src/main/target/X_RACERSPI/target.h           |   8 +-
 40 files changed, 277 insertions(+), 296 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 5bcd1e923..43820350d 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -848,10 +848,10 @@ void validateAndFixConfig(void)
     if (featureConfigured(FEATURE_SOFTSERIAL) && (
             0
 #ifdef USE_SOFTSERIAL1
-            || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
+            || (WS2811_TIMER == SOFTSERIAL_1_TIMER)
 #endif
 #ifdef USE_SOFTSERIAL2
-            || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER)
+            || (WS2811_TIMER == SOFTSERIAL_2_TIMER)
 #endif
     )) {
         // led strip needs the same timer as softserial
diff --git a/src/main/drivers/light_ws2811strip.c b/src/main/drivers/light_ws2811strip.c
index 3821350f5..5bd5857b5 100644
--- a/src/main/drivers/light_ws2811strip.c
+++ b/src/main/drivers/light_ws2811strip.c
@@ -80,18 +80,9 @@ void setStripColors(const hsvColor_t *colors)
     }
 }
 
-void ws2811DMAHandler(DMA_Channel_TypeDef *channel) {
-    if (DMA_GetFlagStatus(WS2811_DMA_TC_FLAG)) {
-        ws2811LedDataTransferInProgress = 0;
-        DMA_Cmd(channel, DISABLE);
-        DMA_ClearFlag(WS2811_DMA_TC_FLAG);
-    }
-}
-
 void ws2811LedStripInit(void)
 {
     memset(&ledStripDMABuffer, 0, WS2811_DMA_BUFFER_SIZE);
-    dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
     ws2811LedStripHardwareInit();
     ws2811UpdateStrip();
 }
@@ -141,12 +132,11 @@ STATIC_UNIT_TESTED void updateLEDDMABuffer(uint8_t componentValue)
  */
 void ws2811UpdateStrip(void)
 {
-    static uint32_t waitCounter = 0;
     static rgbColor24bpp_t *rgb24;
 
-    // wait until previous transfer completes
-    while(ws2811LedDataTransferInProgress) {
-        waitCounter++;
+    // don't wait - risk of infinite block, just get an update next time round
+    if (ws2811LedDataTransferInProgress) {
+        return;
     }
 
     dmaBufferOffset = 0;                // reset buffer memory index
diff --git a/src/main/drivers/light_ws2811strip_stm32f10x.c b/src/main/drivers/light_ws2811strip_stm32f10x.c
index b7f1bd413..40003663d 100644
--- a/src/main/drivers/light_ws2811strip_stm32f10x.c
+++ b/src/main/drivers/light_ws2811strip_stm32f10x.c
@@ -23,35 +23,41 @@
 #include "common/color.h"
 #include "drivers/light_ws2811strip.h"
 #include "nvic.h"
+#include "io.h"
+#include "dma.h"
+#include "timer.h"
+
+#ifdef LED_STRIP
+
+static IO_t ws2811IO = IO_NONE;
+bool ws2811Initialised = false;
+
+void ws2811DMAHandler(DMA_Channel_TypeDef *channel)
+{
+    if (DMA_GetFlagStatus(WS2811_DMA_TC_FLAG)) {
+        ws2811LedDataTransferInProgress = 0;
+        DMA_Cmd(channel, DISABLE);
+        DMA_ClearFlag(WS2811_DMA_TC_FLAG);
+    }
+}
 
 void ws2811LedStripHardwareInit(void)
 {
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
     TIM_OCInitTypeDef  TIM_OCInitStructure;
-    GPIO_InitTypeDef GPIO_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
 
     uint16_t prescalerValue;
 
-#ifdef CC3D
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
-    GPIO_StructInit(&GPIO_InitStructure);
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
-#else
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
-
-    /* GPIOA Configuration: TIM3 Channel 1 as alternate function push-pull */
-    GPIO_StructInit(&GPIO_InitStructure);
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
-#endif
-
-    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
+    dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
+    
+    ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
+/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
+    IOInit(ws2811IO, OWNER_SYSTEM, RESOURCE_OUTPUT);
+    IOConfigGPIO(ws2811IO, IO_CONFIG(GPIO_Speed_50MHz, GPIO_Mode_AF_PP));
+    
+    RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
+    
     /* Compute the prescaler value */
     prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
     /* Time base configuration */
@@ -108,16 +114,20 @@ void ws2811LedStripHardwareInit(void)
     NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
     NVIC_Init(&NVIC_InitStructure);
 
+    ws2811Initialised = true;
     setStripColor(&hsv_white);
     ws2811UpdateStrip();
 }
 
 void ws2811LedStripDMAEnable(void)
 {
+    if (!ws2811Initialised)
+        return;
+    
     DMA_SetCurrDataCounter(DMA1_Channel6, WS2811_DMA_BUFFER_SIZE);  // load number of bytes to be transferred
     TIM_SetCounter(TIM3, 0);
     TIM_Cmd(TIM3, ENABLE);
     DMA_Cmd(DMA1_Channel6, ENABLE);
 }
 
-
+#endif
\ No newline at end of file
diff --git a/src/main/drivers/light_ws2811strip_stm32f30x.c b/src/main/drivers/light_ws2811strip_stm32f30x.c
index fbcc8d3fb..567fd0b8e 100644
--- a/src/main/drivers/light_ws2811strip_stm32f30x.c
+++ b/src/main/drivers/light_ws2811strip_stm32f30x.c
@@ -20,51 +20,54 @@
 
 #include <platform.h>
 
-#include "gpio.h"
+#include "io.h"
 #include "nvic.h"
 
 #include "common/color.h"
 #include "drivers/light_ws2811strip.h"
+#include "dma.h"
+#include "rcc.h"
+#include "timer.h"
 
-#ifndef WS2811_GPIO
-#define WS2811_GPIO                     GPIOB
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOB
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_8 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#ifdef LED_STRIP
+
+#ifndef WS2811_PIN
+#define WS2811_PIN                      PB8 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
-
 #endif
 
+static IO_t ws2811IO = IO_NONE;
+bool ws2811Initialised = false;
+
+void ws2811DMAHandler(DMA_Channel_TypeDef *channel) 
+{
+    if (DMA_GetFlagStatus(WS2811_DMA_TC_FLAG)) {
+        ws2811LedDataTransferInProgress = 0;
+        DMA_Cmd(channel, DISABLE);
+        DMA_ClearFlag(WS2811_DMA_TC_FLAG);
+    }
+}
+
 void ws2811LedStripHardwareInit(void)
 {
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
     TIM_OCInitTypeDef  TIM_OCInitStructure;
-    GPIO_InitTypeDef GPIO_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
 
     uint16_t prescalerValue;
-
-    RCC_AHBPeriphClockCmd(WS2811_GPIO_AHB_PERIPHERAL, ENABLE);
-
-    GPIO_PinAFConfig(WS2811_GPIO, WS2811_PIN_SOURCE,  WS2811_GPIO_AF);
-
-    /* Configuration alternate function push-pull */
-    GPIO_StructInit(&GPIO_InitStructure);
-    GPIO_InitStructure.GPIO_Pin = WS2811_PIN;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
-    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-    GPIO_Init(WS2811_GPIO, &GPIO_InitStructure);
-
-
-    RCC_APB2PeriphClockCmd(WS2811_TIMER_APB2_PERIPHERAL, ENABLE);
+    
+    dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
+    
+    ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
+    /* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
+    IOInit(ws2811IO, OWNER_SYSTEM, RESOURCE_OUTPUT);
+    IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(WS2811_TIMER));
+    
+    RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
 
     /* Compute the prescaler value */
     prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
@@ -122,16 +125,20 @@ void ws2811LedStripHardwareInit(void)
     NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
     NVIC_Init(&NVIC_InitStructure);
 
+    ws2811Initialised = true;
     setStripColor(&hsv_white);
     ws2811UpdateStrip();
 }
 
 void ws2811LedStripDMAEnable(void)
 {
+    if (!ws2811Initialised)
+        return;
+    
     DMA_SetCurrDataCounter(WS2811_DMA_CHANNEL, WS2811_DMA_BUFFER_SIZE);  // load number of bytes to be transferred
     TIM_SetCounter(WS2811_TIMER, 0);
     TIM_Cmd(WS2811_TIMER, ENABLE);
     DMA_Cmd(WS2811_DMA_CHANNEL, ENABLE);
 }
 
-
+#endif
\ No newline at end of file
diff --git a/src/main/drivers/light_ws2811strip_stm32f4xx.c b/src/main/drivers/light_ws2811strip_stm32f4xx.c
index d85f1c575..7bc139c32 100644
--- a/src/main/drivers/light_ws2811strip_stm32f4xx.c
+++ b/src/main/drivers/light_ws2811strip_stm32f4xx.c
@@ -22,64 +22,122 @@
 
 #include "common/color.h"
 #include "light_ws2811strip.h"
+#include "dma.h"
 #include "nvic.h"
+#include "io.h"
+#include "system.h"
+#include "rcc.h"
+#include "timer.h"
 
 #ifdef LED_STRIP
+
+#if !defined(WS2811_PIN) 
+#define WS2811_PIN                      PA0 
+#define WS2811_TIMER                    TIM5
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream2
+#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF2
+#define WS2811_DMA_IT                   DMA_IT_TCIF2
+#define WS2811_DMA_CHANNEL              DMA_Channel_6
+#define WS2811_DMA_IRQ                  DMA1_Stream2_IRQn
+#define WS2811_TIMER_CHANNEL            TIM_Channel_1
+#endif
+
+static IO_t ws2811IO = IO_NONE;
+static uint16_t timDMASource = 0;
+bool ws2811Initialised = false;
+
+void ws2811DMAHandler(DMA_Stream_TypeDef *stream)
+{
+    if (DMA_GetFlagStatus(stream, WS2811_DMA_FLAG)) {
+        ws2811LedDataTransferInProgress = 0;
+        DMA_ClearITPendingBit(stream, WS2811_DMA_IT);
+        DMA_Cmd(stream, DISABLE);
+        TIM_DMACmd(WS2811_TIMER, timDMASource, DISABLE);
+    }
+}
+
 void ws2811LedStripHardwareInit(void)
 {
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
     TIM_OCInitTypeDef  TIM_OCInitStructure;
-    GPIO_InitTypeDef GPIO_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
 
     uint16_t prescalerValue;
 
-    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
-    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
-    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);
-
+    RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
 
+    ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
     /* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
-    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
-    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
-
-    GPIO_PinAFConfig(GPIOA, GPIO_PinSource0,  GPIO_AF_TIM5);
-
-
+    IOInit(ws2811IO, OWNER_SYSTEM, RESOURCE_OUTPUT);
+    IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(WS2811_TIMER));
+    
     // Stop timer
-    TIM_Cmd(TIM5, DISABLE);
+    TIM_Cmd(WS2811_TIMER, DISABLE);
 
     /* Compute the prescaler value */
-    prescalerValue = (uint16_t) (SystemCoreClock / 2 / 84000000) - 1;
+    prescalerValue = (uint16_t)(SystemCoreClock / 2 / 84000000) - 1;
+    
     /* Time base configuration */
     TIM_TimeBaseStructure.TIM_Period = 104; // 800kHz
     TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
-    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-    TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
+    TIM_TimeBaseInit(WS2811_TIMER, &TIM_TimeBaseStructure);
 
     /* PWM1 Mode configuration: Channel1 */
     TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
+    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
+    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
+    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
     TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
     TIM_OCInitStructure.TIM_Pulse = 0;
-    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
-    TIM_OC1Init(TIM5, &TIM_OCInitStructure);
-    TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
+    
+    uint32_t channelAddress = 0;
+    switch (WS2811_TIMER_CHANNEL)
+    {
+    case TIM_Channel_1:
+        TIM_OC1Init(WS2811_TIMER, &TIM_OCInitStructure);
+        timDMASource = TIM_DMA_CC1;
+        channelAddress = (uint32_t)(&WS2811_TIMER->CCR1);
+        TIM_OC1PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+        break;        
+    case TIM_Channel_2:
+        TIM_OC2Init(WS2811_TIMER, &TIM_OCInitStructure);
+        timDMASource = TIM_DMA_CC2;
+        channelAddress = (uint32_t)(&WS2811_TIMER->CCR2);
+        TIM_OC2PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+        break;        
+    case TIM_Channel_3:
+        TIM_OC3Init(WS2811_TIMER, &TIM_OCInitStructure);
+        timDMASource = TIM_DMA_CC3;
+        channelAddress = (uint32_t)(&WS2811_TIMER->CCR3);
+        TIM_OC3PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+        break;        
+    case TIM_Channel_4:
+        TIM_OC4Init(WS2811_TIMER, &TIM_OCInitStructure);
+        timDMASource = TIM_DMA_CC4;
+        channelAddress = (uint32_t)(&WS2811_TIMER->CCR4);
+        TIM_OC4PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+        break;        
+    }
+    
+    TIM_CtrlPWMOutputs(WS2811_TIMER, ENABLE);    
+    TIM_ARRPreloadConfig(WS2811_TIMER, ENABLE);
 
-    TIM_Cmd(TIM5, ENABLE);
+    TIM_CCxCmd(WS2811_TIMER, WS2811_TIMER_CHANNEL, TIM_CCx_Enable);
+    TIM_Cmd(WS2811_TIMER, ENABLE);
 
+    dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
 
     /* configure DMA */
-    /* DMA1 Channel Config */
-    DMA_Cmd(DMA1_Stream2, DISABLE);            // disable DMA channel 6
-    DMA_DeInit(DMA1_Stream2);
+    DMA_Cmd(WS2811_DMA_STREAM, DISABLE);            
+    DMA_DeInit(WS2811_DMA_STREAM);
     DMA_StructInit(&DMA_InitStructure);
-    DMA_InitStructure.DMA_Channel = DMA_Channel_6;
-    DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(TIM5->CCR1);
+    DMA_InitStructure.DMA_Channel = WS2811_DMA_CHANNEL;
+    DMA_InitStructure.DMA_PeripheralBaseAddr = channelAddress;
     DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)ledStripDMABuffer;
     DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
     DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
@@ -93,38 +151,36 @@ void ws2811LedStripHardwareInit(void)
     DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
     DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
     DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
-    DMA_Init(DMA1_Stream2, &DMA_InitStructure);
 
-    DMA_ITConfig(DMA1_Stream2, DMA_IT_TC, ENABLE);
-    DMA_ClearITPendingBit(DMA1_Stream2, DMA_IT_TCIF2);               // clear DMA1 Channel 6 transfer complete flag
+    
+    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);    
+    DMA_Init(WS2811_DMA_STREAM, &DMA_InitStructure);
 
+    DMA_ITConfig(WS2811_DMA_STREAM, DMA_IT_TC, ENABLE);
+    DMA_ClearITPendingBit(WS2811_DMA_STREAM, WS2811_DMA_IT);              
+    
     NVIC_InitTypeDef NVIC_InitStructure;
 
-    NVIC_InitStructure.NVIC_IRQChannel = DMA1_Stream2_IRQn;
+    NVIC_InitStructure.NVIC_IRQChannel = WS2811_DMA_IRQ;
     NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_WS2811_DMA);
     NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_WS2811_DMA);
     NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
     NVIC_Init(&NVIC_InitStructure);
 
+    ws2811Initialised = true;
     setStripColor(&hsv_white);
     ws2811UpdateStrip();
 }
 
-void DMA1_Stream2_IRQHandler(void)
-{
-    if (DMA_GetFlagStatus(DMA1_Stream2, DMA_FLAG_TCIF2)) {
-        ws2811LedDataTransferInProgress = 0;
-        DMA_Cmd(DMA1_Stream2, DISABLE);
-        TIM_DMACmd(TIM5, TIM_DMA_CC1, DISABLE);
-        DMA_ClearITPendingBit(DMA1_Stream2, DMA_IT_TCIF2);
-    }
-}
-
 void ws2811LedStripDMAEnable(void)
 {
-    DMA_SetCurrDataCounter(DMA1_Stream2, WS2811_DMA_BUFFER_SIZE);  // load number of bytes to be transferred
-    TIM_SetCounter(TIM5, 0);
-    DMA_Cmd(DMA1_Stream2, ENABLE);
-    TIM_DMACmd(TIM5, TIM_DMA_CC1, ENABLE);
+    if (!ws2811Initialised)
+        return;
+    
+    DMA_SetCurrDataCounter(WS2811_DMA_STREAM, WS2811_DMA_BUFFER_SIZE);  // load number of bytes to be transferred
+    TIM_SetCounter(WS2811_TIMER, 0);
+    DMA_Cmd(WS2811_DMA_STREAM, ENABLE);
+    TIM_DMACmd(WS2811_TIMER, timDMASource, ENABLE);
 }
-#endif
+
+#endif
\ No newline at end of file
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 8d332ba56..5e797ea2f 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -157,33 +157,33 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             continue;
 #endif
 
-#ifdef LED_STRIP_TIMER
+#ifdef WS2811_TIMER
         // skip LED Strip output
         if (init->useLEDStrip) {
-            if (timerHardwarePtr->tim == LED_STRIP_TIMER)
+            if (timerHardwarePtr->tim == WS2811_TIMER)
                 continue;
-#if defined(STM32F303xC) && defined(WS2811_GPIO) && defined(WS2811_PIN_SOURCE)
-            if (CheckGPIOPinSource(timerHardwarePtr->tag, WS2811_GPIO, WS2811_PIN_SOURCE))
+#if defined(STM32F303xC) && defined(WS2811_PIN)
+            if (timerHardwarePtr->tag == IO_TAG(WS2811_PIN))
                 continue;
 #endif
         }
 
 #endif
 
-#ifdef VBAT_ADC_GPIO
-        if (init->useVbat && CheckGPIOPin(timerHardwarePtr->tag, VBAT_ADC_GPIO, VBAT_ADC_GPIO_PIN)) {
+#ifdef VBAT_ADC_PIN
+        if (init->useVbat && timerHardwarePtr->tag == IO_TAG(VBAT_ADC_PIN)) {
             continue;
         }
 #endif
 
 #ifdef RSSI_ADC_GPIO
-        if (init->useRSSIADC && CheckGPIOPin(timerHardwarePtr->tag, RSSI_ADC_GPIO, RSSI_ADC_GPIO_PIN)) {
+        if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
             continue;
         }
 #endif
 
 #ifdef CURRENT_METER_ADC_GPIO
-        if (init->useCurrentMeterADC && CheckGPIOPin(timerHardwarePtr->tag, CURRENT_METER_ADC_GPIO, CURRENT_METER_ADC_GPIO_PIN)) {
+        if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
             continue;
         }
 #endif
@@ -274,7 +274,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         }
 
         if (init->useChannelForwarding && !init->airplane) {
-#if defined(NAZE) && defined(LED_STRIP_TIMER)
+#if defined(NAZE) && defined(WS2811_TIMER)
             // if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
             if (init->useLEDStrip) { 
                 if (timerIndex >= PWM13 && timerIndex <= PWM14) {
diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index 37067ae25..e168a46df 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -151,6 +151,18 @@ rccPeriphTag_t timerRCC(TIM_TypeDef *tim)
     return 0;
 }
 
+#if defined(STM32F3) || defined(STM32F4)
+uint8_t timerGPIOAF(TIM_TypeDef *tim)
+{
+    for (uint8_t i = 0; i < HARDWARE_TIMER_DEFINITION_COUNT; i++) {
+        if (timerDefinitions[i].TIMx == tim) {
+            return timerDefinitions[i].alternateFunction;
+        }
+    }
+    return 0;
+}
+#endif
+
 void timerNVICConfigure(uint8_t irq)
 {
     NVIC_InitTypeDef NVIC_InitStructure;
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index cdc461c69..26078d451 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -69,6 +69,9 @@ typedef struct timerOvrHandlerRec_s {
 typedef struct timerDef_s {
     TIM_TypeDef *TIMx;
     rccPeriphTag_t rcc;
+#if defined(STM32F3) || defined(STM32F4)
+    uint8_t alternateFunction;
+#endif
 } timerDef_t;
 
 typedef struct timerHardware_s {
@@ -82,8 +85,11 @@ typedef struct timerHardware_s {
     uint8_t alternateFunction;
 #endif
 } timerHardware_t;
-enum {TIMER_OUTPUT_ENABLED = 0x01, TIMER_OUTPUT_INVERTED = 0x02};
 
+enum {
+    TIMER_OUTPUT_ENABLED = 0x01, 
+    TIMER_OUTPUT_INVERTED = 0x02
+};
 
 #ifdef STM32F1
 #if defined(STM32F10X_XL) || defined(STM32F10X_HD_VL)
@@ -149,3 +155,7 @@ void timerForceOverflow(TIM_TypeDef *tim);
 void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz);  // TODO - just for migration
 
 rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
+
+#if defined(STM32F3) || defined(STM32F4)
+uint8_t timerGPIOAF(TIM_TypeDef *tim);
+#endif
diff --git a/src/main/drivers/timer_stm32f30x.c b/src/main/drivers/timer_stm32f30x.c
index 4bce8a70f..baad75634 100644
--- a/src/main/drivers/timer_stm32f30x.c
+++ b/src/main/drivers/timer_stm32f30x.c
@@ -10,16 +10,16 @@
 #include "timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
-    { .TIMx = TIM1,  .rcc = RCC_APB2(TIM1)  },
-    { .TIMx = TIM2,  .rcc = RCC_APB1(TIM2)  },
-    { .TIMx = TIM3,  .rcc = RCC_APB1(TIM3)  },
-    { .TIMx = TIM4,  .rcc = RCC_APB1(TIM4)  },
-    { .TIMx = TIM6,  .rcc = RCC_APB1(TIM6)  },
-    { .TIMx = TIM7,  .rcc = RCC_APB1(TIM7)  },
-    { .TIMx = TIM8,  .rcc = RCC_APB2(TIM8)  },
-    { .TIMx = TIM15, .rcc = RCC_APB2(TIM15) },
-    { .TIMx = TIM16, .rcc = RCC_APB2(TIM16) },
-    { .TIMx = TIM17, .rcc = RCC_APB2(TIM17) },
+    { .TIMx = TIM1,  .rcc = RCC_APB2(TIM1),  GPIO_AF_6    },
+    { .TIMx = TIM2,  .rcc = RCC_APB1(TIM2),  GPIO_AF_1    },
+    { .TIMx = TIM3,  .rcc = RCC_APB1(TIM3),  GPIO_AF_2    },
+    { .TIMx = TIM4,  .rcc = RCC_APB1(TIM4),  GPIO_AF_10   },
+    { .TIMx = TIM6,  .rcc = RCC_APB1(TIM6),  0   },
+    { .TIMx = TIM7,  .rcc = RCC_APB1(TIM7),  0   },
+    { .TIMx = TIM8,  .rcc = RCC_APB2(TIM8),   GPIO_AF_5  },
+    { .TIMx = TIM15, .rcc = RCC_APB2(TIM15),  GPIO_AF_9  },
+    { .TIMx = TIM16, .rcc = RCC_APB2(TIM16),  GPIO_AF_1  },
+    { .TIMx = TIM17, .rcc = RCC_APB2(TIM17),  GPIO_AF_1  },
 };
 
 
diff --git a/src/main/drivers/timer_stm32f4xx.c b/src/main/drivers/timer_stm32f4xx.c
index 8916a526c..374e9164b 100644
--- a/src/main/drivers/timer_stm32f4xx.c
+++ b/src/main/drivers/timer_stm32f4xx.c
@@ -35,20 +35,20 @@
 #define CCMR_Offset                 ((uint16_t)0x0018)
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
-    { .TIMx = TIM1,  .rcc = RCC_APB2(TIM1)  },
-    { .TIMx = TIM2,  .rcc = RCC_APB1(TIM2)  },
-    { .TIMx = TIM3,  .rcc = RCC_APB1(TIM3)  },
-    { .TIMx = TIM4,  .rcc = RCC_APB1(TIM4)  },
-    { .TIMx = TIM5,  .rcc = RCC_APB1(TIM5)  },
-    { .TIMx = TIM6,  .rcc = RCC_APB1(TIM6)  },
-    { .TIMx = TIM7,  .rcc = RCC_APB1(TIM7)  },
-    { .TIMx = TIM8,  .rcc = RCC_APB2(TIM8)  },
-    { .TIMx = TIM9,  .rcc = RCC_APB2(TIM9)  },
-    { .TIMx = TIM10, .rcc = RCC_APB2(TIM10) },
-    { .TIMx = TIM11, .rcc = RCC_APB2(TIM11) },
-    { .TIMx = TIM12, .rcc = RCC_APB1(TIM12) },
-    { .TIMx = TIM13, .rcc = RCC_APB1(TIM13) },
-    { .TIMx = TIM14, .rcc = RCC_APB1(TIM14) },
+	{ .TIMx = TIM1, .rcc = RCC_APB2(TIM1),   GPIO_AF_TIM1  },
+	{ .TIMx = TIM2, .rcc = RCC_APB1(TIM2),   GPIO_AF_TIM2  },
+	{ .TIMx = TIM3, .rcc = RCC_APB1(TIM3),   GPIO_AF_TIM3  },
+	{ .TIMx = TIM4, .rcc = RCC_APB1(TIM4),   GPIO_AF_TIM4  },
+	{ .TIMx = TIM5, .rcc = RCC_APB1(TIM5),   GPIO_AF_TIM5  },
+	{ .TIMx = TIM6, .rcc = RCC_APB1(TIM6),   0  },
+	{ .TIMx = TIM7, .rcc = RCC_APB1(TIM7),   0  },
+	{ .TIMx = TIM8, .rcc = RCC_APB2(TIM8),   GPIO_AF_TIM8  },
+	{ .TIMx = TIM9, .rcc = RCC_APB2(TIM9),   GPIO_AF_TIM9  },
+	{ .TIMx = TIM10, .rcc = RCC_APB2(TIM10), GPIO_AF_TIM10 },
+	{ .TIMx = TIM11, .rcc = RCC_APB2(TIM11), GPIO_AF_TIM11 },
+	{ .TIMx = TIM12, .rcc = RCC_APB1(TIM12), GPIO_AF_TIM12 },
+	{ .TIMx = TIM13, .rcc = RCC_APB1(TIM13), GPIO_AF_TIM13 },
+	{ .TIMx = TIM14, .rcc = RCC_APB1(TIM14), GPIO_AF_TIM14 },
 };
 
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode)
diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 061f0d798..863f3a8b6 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -440,7 +440,7 @@ void updateLedCount(void)
     }
 }
 
-void reevalulateLedConfig(void)
+void reevaluateLedConfig(void)
 {
     updateLedCount();
     determineLedStripDimensions();
@@ -534,7 +534,7 @@ bool parseLedStripConfig(uint8_t ledIndex, const char *config)
         memset(ledConfig, 0, sizeof(ledConfig_t));
     }
 
-    reevalulateLedConfig();
+    reevaluateLedConfig();
 
     return ok;
 }
@@ -1095,7 +1095,7 @@ void applyDefaultLedStripConfig(ledConfig_t *ledConfigs)
     memset(ledConfigs, 0, MAX_LED_STRIP_LENGTH * sizeof(ledConfig_t));
     memcpy(ledConfigs, &defaultLedStripConfig, sizeof(defaultLedStripConfig));
 
-    reevalulateLedConfig();
+    reevaluateLedConfig();
 }
 
 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse)
@@ -1107,7 +1107,7 @@ void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse)
 
 void ledStripEnable(void)
 {
-    reevalulateLedConfig();
+    reevaluateLedConfig();
     ledStripInitialised = true;
 
     ws2811LedStripInit();
diff --git a/src/main/io/ledstrip.h b/src/main/io/ledstrip.h
index 5f901e46c..18915229b 100644
--- a/src/main/io/ledstrip.h
+++ b/src/main/io/ledstrip.h
@@ -94,4 +94,4 @@ bool parseColor(uint8_t index, const char *colorConfig);
 void applyDefaultColors(hsvColor_t *colors, uint8_t colorCount);
 
 void ledStripEnable(void);
-void reevalulateLedConfig(void);
+void reevaluateLedConfig(void);
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 9f2609c0a..b616605ac 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1807,7 +1807,7 @@ static bool processInCommand(void)
 
             ledConfig->color = read8();
 
-            reevalulateLedConfig();
+            reevaluateLedConfig();
         }
         break;
 #endif
diff --git a/src/main/scheduler/scheduler_tasks.c b/src/main/scheduler/scheduler_tasks.c
index 721ad27eb..18299e490 100644
--- a/src/main/scheduler/scheduler_tasks.c
+++ b/src/main/scheduler/scheduler_tasks.c
@@ -168,8 +168,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
     [TASK_LEDSTRIP] = {
         .taskName = "LEDSTRIP",
         .taskFunc = taskLedStrip,
-        .desiredPeriod = 1000000 / 100,         // 100 Hz
-        .staticPriority = TASK_PRIORITY_IDLE,
+        .desiredPeriod = 1000000 / 10,         // 10 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
     },
 #endif
 
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index d5122a486..5c5e7795f 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -146,16 +146,10 @@
 
 // LED strip configuration using RC5 pin.
 //#define LED_STRIP
-//#define LED_STRIP_TIMER               TIM8
 
 //#define USE_LED_STRIP_ON_DMA1_CHANNEL3
-//#define WS2811_GPIO                   GPIOB
-//#define WS2811_GPIO_AHB_PERIPHERAL    RCC_AHBPeriph_GPIOB
-//#define WS2811_GPIO_AF                GPIO_AF_3
-//#define WS2811_PIN                    GPIO_Pin_15 // TIM8_CH3
-//#define WS2811_PIN_SOURCE             GPIO_PinSource15
+//#define WS2811_PIN                    PB15 // TIM8_CH3
 //#define WS2811_TIMER                  TIM8
-//#define WS2811_TIMER_APB2_PERIPHERAL  RCC_APB2Periph_TIM8
 //#define WS2811_DMA_CHANNEL            DMA1_Channel3
 //#define WS2811_IRQ                    DMA1_Channel3_IRQn
 
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index 7160da98f..8d9d1c633 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -134,6 +134,19 @@
 #define USE_ADC
 #define VBAT_ADC_PIN           PC3
 
+#define LED_STRIP
+// LED Strip can run off Pin 6 (PB1) of the ESC outputs.
+#define WS2811_PIN                      PB1 
+#define WS2811_TIMER                    TIM3
+#define WS2811_TIMER_CHANNEL            TIM_Channel_4
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream2
+#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF2
+#define WS2811_DMA_IT                   DMA_IT_TCIF2
+#define WS2811_DMA_CHANNEL              DMA_Channel_5
+#define WS2811_DMA_IRQ                  DMA1_Stream2_IRQn
+
+
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
index 9f2308666..f52396562 100644
--- a/src/main/target/BLUEJAYF4/target.mk
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -4,5 +4,7 @@ FEATURES        += SDCARD VCP
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6500.c \
             drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c
+            drivers/barometer_ms5611.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c
 
diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h
index a0415670d..8d6e6afbc 100644
--- a/src/main/target/CC3D/target.h
+++ b/src/main/target/CC3D/target.h
@@ -92,12 +92,13 @@
 #define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
-#define VBAT_ADC_PIN                PA0
-#define RSSI_ADC_PIN                PB0
+#define CURRENT_METER_ADC_PIN        PB1
+#define VBAT_ADC_PIN                 PA0
+#define RSSI_ADC_PIN                 PB0
 
 #define LED_STRIP
-#define LED_STRIP_TIMER              TIM3
+#define WS2811_PIN                   PB4
+#define WS2811_TIMER                 TIM3
 #define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
 
diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
index 10c99ccc0..be0764a03 100644
--- a/src/main/target/COLIBRI_RACE/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -1403,7 +1403,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
 
                ledConfig->color = bstRead8();
 
-               reevalulateLedConfig();
+               reevaluateLedConfig();
            }
            break;
 #endif
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 976b287a0..2822227df 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -122,15 +122,8 @@
 #define LED_STRIP
 #define USE_COLIBTI_RACE_LED_DEFAULT_CONFIG
 
-#define LED_STRIP_TIMER                 TIM16
-
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_6 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource6
+#define WS2811_PIN                      PA6 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
diff --git a/src/main/target/DOGE/target.h b/src/main/target/DOGE/target.h
index 44a16782b..7ca509ea2 100644
--- a/src/main/target/DOGE/target.h
+++ b/src/main/target/DOGE/target.h
@@ -140,15 +140,9 @@
 #define LED_STRIP
 
 // tqfp48 pin 16
-#define LED_STRIP_TIMER TIM16
 #define USE_LED_STRIP_ON_DMA1_CHANNEL3
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_6 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource6
+#define WS2811_PIN                      PA6 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
diff --git a/src/main/target/EUSTM32F103RC/target.h b/src/main/target/EUSTM32F103RC/target.h
index d6d916bb2..0869dd46b 100644
--- a/src/main/target/EUSTM32F103RC/target.h
+++ b/src/main/target/EUSTM32F103RC/target.h
@@ -102,9 +102,6 @@
 #define RSSI_ADC_PIN                PA1
 #define EXTERNAL1_ADC_PIN           PA5
 
-//#define LED_STRIP
-#define LED_STRIP_TIMER TIM3
-
 #define SPEKTRUM_BIND
 // USART2, PA3
 #define BIND_PIN   PA3
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 9075271c1..db4ddd745 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -156,16 +156,10 @@
 #define CURRENT_METER_ADC_PIN       PA2
 
 #define LED_STRIP
-#define LED_STRIP_TIMER                 TIM1
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
diff --git a/src/main/target/LUX_RACE/target.h b/src/main/target/LUX_RACE/target.h
index 6292d2435..cef9b31b0 100644
--- a/src/main/target/LUX_RACE/target.h
+++ b/src/main/target/LUX_RACE/target.h
@@ -95,15 +95,8 @@
 #define EXTERNAL1_ADC_PIN           PC3
 
 #define LED_STRIP
-#define LED_STRIP_TIMER                 TIM16
-
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_6 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource6
+#define WS2811_PIN                      PA6 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
diff --git a/src/main/target/MOTOLAB/target.h b/src/main/target/MOTOLAB/target.h
index 27bf98691..183e1326d 100644
--- a/src/main/target/MOTOLAB/target.h
+++ b/src/main/target/MOTOLAB/target.h
@@ -126,16 +126,10 @@
 
 #define LED_STRIP
 #if 1
-#define LED_STRIP_TIMER TIM16
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL3
-#define WS2811_GPIO                     GPIOB
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOB
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_8 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PB8 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index df73f8e4f..6de152cb8 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -155,7 +155,8 @@
 
 
 #define LED_STRIP
-#define LED_STRIP_TIMER              TIM3
+#define WS2811_TIMER                 TIM3
+#define WS2811_PIN                   PA6 
 #define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
 
diff --git a/src/main/target/OLIMEXINO/target.h b/src/main/target/OLIMEXINO/target.h
index b7972ad77..3ff23fd8d 100644
--- a/src/main/target/OLIMEXINO/target.h
+++ b/src/main/target/OLIMEXINO/target.h
@@ -78,18 +78,12 @@
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2)
 
-// #define SOFT_I2C // enable to test software i2c
-// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
-// #define SOFT_I2C_PB67
-
 #define USE_ADC
 #define CURRENT_METER_ADC_PIN       PB1
 #define VBAT_ADC_PIN                PA4
 #define RSSI_ADC_PIN                PA1
 #define EXTERNAL1_ADC_PIN           PA5
 
-//#define LED_STRIP
-//#define LED_STRIP_TIMER TIM3
 
 // IO - assuming all IOs on smt32f103rb LQFP64 package
 #define TARGET_IO_PORTA 0xffff
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index c9eb4a59d..76d995fce 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -166,15 +166,9 @@
 
 
 #define LED_STRIP
-#define LED_STRIP_TIMER             TIM1
 
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
diff --git a/src/main/target/PIKOBLX/target.h b/src/main/target/PIKOBLX/target.h
index 8b14570c9..36ee21772 100644
--- a/src/main/target/PIKOBLX/target.h
+++ b/src/main/target/PIKOBLX/target.h
@@ -94,16 +94,10 @@
 
 #define LED_STRIP
 #if 1
-#define LED_STRIP_TIMER                 TIM16
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL3
-#define WS2811_GPIO                     GPIOB
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOB
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_8 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PB8 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
diff --git a/src/main/target/PORT103R/target.h b/src/main/target/PORT103R/target.h
index 64e0b6455..d5d0850d9 100644
--- a/src/main/target/PORT103R/target.h
+++ b/src/main/target/PORT103R/target.h
@@ -115,9 +115,6 @@
 #define RSSI_ADC_PIN                PA1
 #define EXTERNAL1_ADC_PIN           PA5
 
-//#define LED_STRIP
-//#define LED_STRIP_TIMER TIM3
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f103RCT6 in 64pin package
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index d2124e5b2..3a67944b9 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -110,8 +110,6 @@
  
 #define SENSORS_SET (SENSOR_ACC)
 
-//#define LED_STRIP
-//#define LED_STRIP_TIMER TIM5
 
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
 #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_ONESHOT125 | FEATURE_RX_SERIAL)
diff --git a/src/main/target/REVONANO/target.h b/src/main/target/REVONANO/target.h
index 6f4a2c431..14912fffc 100644
--- a/src/main/target/REVONANO/target.h
+++ b/src/main/target/REVONANO/target.h
@@ -85,12 +85,6 @@
 #define VBAT_ADC_PIN                PA6
 #define RSSI_ADC_PIN                PA5
 
-
-//#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG)
-
-//#define LED_STRIP
-//#define LED_STRIP_TIMER TIM5
-
 #define GPS
 #define BLACKBOX
 #define TELEMETRY
diff --git a/src/main/target/RMDO/target.h b/src/main/target/RMDO/target.h
index 779b8ab6c..602609862 100644
--- a/src/main/target/RMDO/target.h
+++ b/src/main/target/RMDO/target.h
@@ -112,16 +112,10 @@
 #define RSSI_ADC_PIN                PB2
 
 #define LED_STRIP
-#define LED_STRIP_TIMER                 TIM1
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h
index f58dcbe96..4d047843e 100644
--- a/src/main/target/SINGULARITY/target.h
+++ b/src/main/target/SINGULARITY/target.h
@@ -98,16 +98,10 @@
 #define VBAT_SCALE_DEFAULT          77
 
 #define LED_STRIP
-#define LED_STRIP_TIMER TIM1
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index 58101f0b8..0913d0ec1 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -97,16 +97,9 @@
 #define LED_STRIP
 #if 1
 // LED strip configuration using PWM motor output pin 5.
-#define LED_STRIP_TIMER                 TIM16
-
 #define USE_LED_STRIP_ON_DMA1_CHANNEL3
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_6 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource6
+#define WS2811_PIN                      PA6 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index 7b2a365a5..840dda225 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -121,16 +121,10 @@
 #define RSSI_ADC_PIN                PB2
 
 #define LED_STRIP
-#define LED_STRIP_TIMER             TIM1
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index c4a9a0484..4adbe0d56 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -142,16 +142,9 @@
 #define RSSI_ADC_PIN                PB2
 
 #define LED_STRIP
-#define LED_STRIP_TIMER                 TIM1
-
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index 93e220420..61b4bd9b5 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -150,15 +150,8 @@
 #define RSSI_ADC_PIN                PB2
 
 #define LED_STRIP
-#define LED_STRIP_TIMER                 TIM1
-
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index 947ad4913..7664b47e0 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -146,14 +146,8 @@
 #define EXTERNAL1_ADC_PIN           PC3
 
 #define LED_STRIP
-#define LED_STRIP_TIMER                 TIM16
-#define WS2811_GPIO                     GPIOB
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOB
-#define WS2811_GPIO_AF                  GPIO_AF_1
-#define WS2811_PIN                      GPIO_Pin_8 // TIM16_CH1
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PB8 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM16
 #define WS2811_DMA_CHANNEL              DMA1_Channel3
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
index 39c2e6c20..217765adc 100644
--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@@ -124,16 +124,10 @@
 #define RSSI_ADC_PIN                PB2
 
 #define LED_STRIP
-#define LED_STRIP_TIMER             TIM1
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2
-#define WS2811_GPIO                     GPIOA
-#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define WS2811_GPIO_AF                  GPIO_AF_6
-#define WS2811_PIN                      GPIO_Pin_8
-#define WS2811_PIN_SOURCE               GPIO_PinSource8
+#define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
-#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2

From 9ed87c0d9acbe3556460516999fc4c10ee121b41 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 2 Jul 2016 14:38:46 +1000
Subject: [PATCH 36/54] FuryF3 target.c extra item in initialise

---
 src/main/target/FURYF3/target.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/FURYF3/target.c b/src/main/target/FURYF3/target.c
index 4dc593bb3..cfbced9c1 100644
--- a/src/main/target/FURYF3/target.c
+++ b/src/main/target/FURYF3/target.c
@@ -58,7 +58,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 
     { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4 - S1
     { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - S2
-    { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM6 - S3
+    { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10}, // PWM6 - S3
     { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM7 - S4
  
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO TIMER - LED_STRIP

From 6df2b6db8d4259576f5cd77726af0f31f2514444 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 2 Jul 2016 17:23:58 +1000
Subject: [PATCH 37/54] Cleaned up USB VCP buffers

---
 src/main/drivers/io.h         |  4 ++++
 src/main/io/serial_4way.c     | 27 ++++++++++++++-------------
 src/main/vcpf4/usbd_cdc_vcp.c | 34 ++++++++++++++--------------------
 src/main/vcpf4/usbd_cdc_vcp.h |  6 +++---
 4 files changed, 35 insertions(+), 36 deletions(-)

diff --git a/src/main/drivers/io.h b/src/main/drivers/io.h
index debc78d95..121e7a0e1 100644
--- a/src/main/drivers/io.h
+++ b/src/main/drivers/io.h
@@ -40,18 +40,21 @@ typedef uint8_t ioConfig_t;  // packed IO configuration
 #define IO_CONFIG(mode, speed) ((mode) | (speed))
 
 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_2MHz)
+#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_25MHz)
 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_Out_OD,      GPIO_Speed_2MHz)
 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF_PP,       GPIO_Speed_2MHz)
 #define IOCFG_AF_OD          IO_CONFIG(GPIO_Mode_AF_OD,       GPIO_Speed_2MHz)
 #define IOCFG_IPD            IO_CONFIG(GPIO_Mode_IPD,         GPIO_Speed_2MHz)
 #define IOCFG_IPU            IO_CONFIG(GPIO_Mode_IPU,         GPIO_Speed_2MHz)
 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_Mode_IN_FLOATING, GPIO_Speed_2MHz)
+#define IOCFG_IPU_25         IO_CONFIG(GPIO_Mode_IPU,         GPIO_Speed_25MHz)
 
 #elif defined(STM32F3) || defined(STM32F4)
 
 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
 
 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)  // TODO
+#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL) 
 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_NOPULL)
 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_DOWN)
@@ -60,6 +63,7 @@ typedef uint8_t ioConfig_t;  // packed IO configuration
 #define IOCFG_IPD            IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_DOWN)
 #define IOCFG_IPU            IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_UP)
 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_Mode_IN,  0, 0,             GPIO_PuPd_NOPULL)
+#define IOCFG_IPU_25         IO_CONFIG(GPIO_Mode_IN,  GPIO_Speed_25MHz, 0, GPIO_PuPd_UP)
 
 #elif defined(UNIT_TEST)
 
diff --git a/src/main/io/serial_4way.c b/src/main/io/serial_4way.c
index 6d96a36ec..81742c96f 100644
--- a/src/main/io/serial_4way.c
+++ b/src/main/io/serial_4way.c
@@ -44,15 +44,15 @@
 #define USE_TXRX_LED
 
 #if defined(USE_TXRX_LED) && defined(LED0)
-# define RX_LED_OFF   LED0_OFF
-# define RX_LED_ON    LED0_ON
-# ifdef  LED1
-#  define TX_LED_OFF  LED1_OFF
-#  define TX_LED_ON   LED1_ON
-# else
-#  define TX_LED_OFF  LED0_OFF
-#  define TX_LED_ON   LED0_ON
-# endif
+#define RX_LED_OFF      LED0_OFF
+#define RX_LED_ON       LED0_ON
+#ifdef  LED1
+#define TX_LED_OFF      LED1_OFF
+#define TX_LED_ON       LED1_ON
+#else
+#define TX_LED_OFF  LED0_OFF
+#define TX_LED_ON   LED0_ON
+#endif
 #else
 # define RX_LED_OFF   do {} while(0)
 # define RX_LED_ON    do {} while(0)
@@ -120,12 +120,12 @@ void setEscLo(uint8_t selEsc)
 
 void setEscInput(uint8_t selEsc)
 {
-    IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU);
+    IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU_25);
 }
 
 void setEscOutput(uint8_t selEsc)
 {
-    IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP);
+    IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP_25);
 }
 
 // Initialize 4way ESC interface
@@ -330,6 +330,7 @@ void esc4wayProcess(serialPort_t *serial)
     while(!esc4wayExitRequested) {
         // restart looking for new sequence from host
         crcIn = 0;
+
         uint8_t esc = readByteCrc();
         if(esc != cmd_Local_Escape)
             continue;                          // wait for sync character
@@ -348,7 +349,6 @@ void esc4wayProcess(serialPort_t *serial)
             paramBuf[i] = readByteCrc();
 
         readByteCrc(); readByteCrc();         // update input CRC
-        RX_LED_OFF;
 
         outLen = 0;                           // output handling code will send single zero byte if necessary
         replyAck = esc4wayAck_OK;
@@ -356,6 +356,7 @@ void esc4wayProcess(serialPort_t *serial)
         if(crcIn != 0)                        // CRC of correct message == 0
             replyAck = esc4wayAck_I_INVALID_CRC;
 
+        TX_LED_ON;
         if (replyAck == esc4wayAck_OK)
             replyAck = esc4wayProcessCmd(command, addr, paramBuf, inLen, &outLen);
 
@@ -365,8 +366,8 @@ void esc4wayProcess(serialPort_t *serial)
             outLen = 1;
         }
 
+        RX_LED_OFF;
         crcOut = 0;
-        TX_LED_ON;
         serialBeginWrite(port);
         writeByteCrc(cmd_Remote_Escape);
         writeByteCrc(command);
diff --git a/src/main/vcpf4/usbd_cdc_vcp.c b/src/main/vcpf4/usbd_cdc_vcp.c
index 93ac1aaa5..e4681418b 100644
--- a/src/main/vcpf4/usbd_cdc_vcp.c
+++ b/src/main/vcpf4/usbd_cdc_vcp.c
@@ -170,20 +170,16 @@ uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength)
  */
 static uint16_t VCP_DataTx(uint8_t* Buf, uint32_t Len)
 {
-    uint16_t ptr = APP_Rx_ptr_in;
-    uint32_t i;
-
-    for (i = 0; i < Len; i++)
-        APP_Rx_Buffer[ptr++ & (APP_RX_DATA_SIZE-1)] = Buf[i];
-
-    APP_Rx_ptr_in = ptr % APP_RX_DATA_SIZE;
-    
+    for (uint32_t i = 0; i < Len; i++) {
+        APP_Rx_Buffer[APP_Rx_ptr_in] = Buf[i];
+        APP_Rx_ptr_in = (APP_Rx_ptr_in + 1) % APP_RX_DATA_SIZE;
+    }
     return USBD_OK;
 }
 
 uint8_t usbAvailable(void) 
 {
-    return (usbData.rxBufHead != usbData.rxBufTail);
+    return (usbData.bufferInPosition != usbData.bufferOutPosition);
 }
 
 /*******************************************************************************
@@ -198,8 +194,8 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
     uint32_t ch = 0;
 
     while (usbAvailable() && ch < len) {
-        recvBuf[ch] = usbData.rxBuf[usbData.rxBufTail];
-        usbData.rxBufTail = (usbData.rxBufTail + 1) % USB_RX_BUFSIZE;
+        recvBuf[ch] = usbData.buffer[usbData.bufferOutPosition];
+        usbData.bufferOutPosition = (usbData.bufferOutPosition + 1) % USB_RX_BUFSIZE;
         ch++;
         receiveLength--;
     }
@@ -224,18 +220,16 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
  */
 static uint16_t VCP_DataRx(uint8_t* Buf, uint32_t Len)
 {
-    uint16_t ptr = usbData.rxBufHead;
-    uint32_t i;
+    __disable_irq();
 
-    for (i = 0; i < Len; i++)
-        usbData.rxBuf[ptr++ & (USB_RX_BUFSIZE-1)] = Buf[i];
+    for (uint32_t i = 0; i < Len; i++) {
+        usbData.buffer[usbData.bufferInPosition] = Buf[i];
+        usbData.bufferInPosition = (usbData.bufferInPosition + 1) % USB_RX_BUFSIZE;
+        receiveLength++;
+    }
 
-    usbData.rxBufHead = ptr % USB_RX_BUFSIZE;
+    __enable_irq();
 
-    receiveLength = ((usbData.rxBufHead - usbData.rxBufTail) > 0 ?
-        (usbData.rxBufHead - usbData.rxBufTail) :
-        (usbData.rxBufHead + USB_RX_BUFSIZE - usbData.rxBufTail)) % USB_RX_BUFSIZE;
-    
     if(receiveLength > (USB_RX_BUFSIZE-1))
         return USBD_FAIL;
     
diff --git a/src/main/vcpf4/usbd_cdc_vcp.h b/src/main/vcpf4/usbd_cdc_vcp.h
index 3ca22aa4e..7cc0f8feb 100644
--- a/src/main/vcpf4/usbd_cdc_vcp.h
+++ b/src/main/vcpf4/usbd_cdc_vcp.h
@@ -71,9 +71,9 @@ typedef struct
 } LINE_CODING;
 
 typedef struct {
-    uint8_t rxBuf[USB_RX_BUFSIZE];
-    uint16_t rxBufHead;
-    uint16_t rxBufTail;
+    uint8_t buffer[USB_RX_BUFSIZE];
+    uint16_t bufferInPosition;
+    uint16_t bufferOutPosition;
 } usbStruct_t;
 
 

From 7d38b510a4929efff1d380569431caccc04dff59 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 2 Jul 2016 17:30:05 +1000
Subject: [PATCH 38/54] Tabs to spaces

---
 src/main/drivers/timer_stm32f4xx.c | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/src/main/drivers/timer_stm32f4xx.c b/src/main/drivers/timer_stm32f4xx.c
index 374e9164b..9b81d936a 100644
--- a/src/main/drivers/timer_stm32f4xx.c
+++ b/src/main/drivers/timer_stm32f4xx.c
@@ -35,20 +35,20 @@
 #define CCMR_Offset                 ((uint16_t)0x0018)
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
-	{ .TIMx = TIM1, .rcc = RCC_APB2(TIM1),   GPIO_AF_TIM1  },
-	{ .TIMx = TIM2, .rcc = RCC_APB1(TIM2),   GPIO_AF_TIM2  },
-	{ .TIMx = TIM3, .rcc = RCC_APB1(TIM3),   GPIO_AF_TIM3  },
-	{ .TIMx = TIM4, .rcc = RCC_APB1(TIM4),   GPIO_AF_TIM4  },
-	{ .TIMx = TIM5, .rcc = RCC_APB1(TIM5),   GPIO_AF_TIM5  },
-	{ .TIMx = TIM6, .rcc = RCC_APB1(TIM6),   0  },
-	{ .TIMx = TIM7, .rcc = RCC_APB1(TIM7),   0  },
-	{ .TIMx = TIM8, .rcc = RCC_APB2(TIM8),   GPIO_AF_TIM8  },
-	{ .TIMx = TIM9, .rcc = RCC_APB2(TIM9),   GPIO_AF_TIM9  },
-	{ .TIMx = TIM10, .rcc = RCC_APB2(TIM10), GPIO_AF_TIM10 },
-	{ .TIMx = TIM11, .rcc = RCC_APB2(TIM11), GPIO_AF_TIM11 },
-	{ .TIMx = TIM12, .rcc = RCC_APB1(TIM12), GPIO_AF_TIM12 },
-	{ .TIMx = TIM13, .rcc = RCC_APB1(TIM13), GPIO_AF_TIM13 },
-	{ .TIMx = TIM14, .rcc = RCC_APB1(TIM14), GPIO_AF_TIM14 },
+    { .TIMx = TIM1, .rcc = RCC_APB2(TIM1),   GPIO_AF_TIM1  },
+    { .TIMx = TIM2, .rcc = RCC_APB1(TIM2),   GPIO_AF_TIM2  },
+    { .TIMx = TIM3, .rcc = RCC_APB1(TIM3),   GPIO_AF_TIM3  },
+    { .TIMx = TIM4, .rcc = RCC_APB1(TIM4),   GPIO_AF_TIM4  },
+    { .TIMx = TIM5, .rcc = RCC_APB1(TIM5),   GPIO_AF_TIM5  },
+    { .TIMx = TIM6, .rcc = RCC_APB1(TIM6),   0  },
+    { .TIMx = TIM7, .rcc = RCC_APB1(TIM7),   0  },
+    { .TIMx = TIM8, .rcc = RCC_APB2(TIM8),   GPIO_AF_TIM8  },
+    { .TIMx = TIM9, .rcc = RCC_APB2(TIM9),   GPIO_AF_TIM9  },
+    { .TIMx = TIM10, .rcc = RCC_APB2(TIM10), GPIO_AF_TIM10 },
+    { .TIMx = TIM11, .rcc = RCC_APB2(TIM11), GPIO_AF_TIM11 },
+    { .TIMx = TIM12, .rcc = RCC_APB1(TIM12), GPIO_AF_TIM12 },
+    { .TIMx = TIM13, .rcc = RCC_APB1(TIM13), GPIO_AF_TIM13 },
+    { .TIMx = TIM14, .rcc = RCC_APB1(TIM14), GPIO_AF_TIM14 },
 };
 
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode)

From afea1d6123f087b8cb87dc69010144e12abad66d Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 2 Jul 2016 19:37:39 +1000
Subject: [PATCH 39/54] Formatting based on feedback

---
 .../drivers/light_ws2811strip_stm32f4xx.c     | 51 ++++++++--------
 src/main/drivers/timer_stm32f4xx.c            | 61 +++++++++----------
 2 files changed, 54 insertions(+), 58 deletions(-)

diff --git a/src/main/drivers/light_ws2811strip_stm32f4xx.c b/src/main/drivers/light_ws2811strip_stm32f4xx.c
index 7bc139c32..f1d04dfbe 100644
--- a/src/main/drivers/light_ws2811strip_stm32f4xx.c
+++ b/src/main/drivers/light_ws2811strip_stm32f4xx.c
@@ -96,32 +96,31 @@ void ws2811LedStripHardwareInit(void)
     TIM_OCInitStructure.TIM_Pulse = 0;
     
     uint32_t channelAddress = 0;
-    switch (WS2811_TIMER_CHANNEL)
-    {
-    case TIM_Channel_1:
-        TIM_OC1Init(WS2811_TIMER, &TIM_OCInitStructure);
-        timDMASource = TIM_DMA_CC1;
-        channelAddress = (uint32_t)(&WS2811_TIMER->CCR1);
-        TIM_OC1PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
-        break;        
-    case TIM_Channel_2:
-        TIM_OC2Init(WS2811_TIMER, &TIM_OCInitStructure);
-        timDMASource = TIM_DMA_CC2;
-        channelAddress = (uint32_t)(&WS2811_TIMER->CCR2);
-        TIM_OC2PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
-        break;        
-    case TIM_Channel_3:
-        TIM_OC3Init(WS2811_TIMER, &TIM_OCInitStructure);
-        timDMASource = TIM_DMA_CC3;
-        channelAddress = (uint32_t)(&WS2811_TIMER->CCR3);
-        TIM_OC3PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
-        break;        
-    case TIM_Channel_4:
-        TIM_OC4Init(WS2811_TIMER, &TIM_OCInitStructure);
-        timDMASource = TIM_DMA_CC4;
-        channelAddress = (uint32_t)(&WS2811_TIMER->CCR4);
-        TIM_OC4PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
-        break;        
+    switch (WS2811_TIMER_CHANNEL) {
+        case TIM_Channel_1:
+            TIM_OC1Init(WS2811_TIMER, &TIM_OCInitStructure);
+            timDMASource = TIM_DMA_CC1;
+            channelAddress = (uint32_t)(&WS2811_TIMER->CCR1);
+            TIM_OC1PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+            break;        
+        case TIM_Channel_2:
+            TIM_OC2Init(WS2811_TIMER, &TIM_OCInitStructure);
+            timDMASource = TIM_DMA_CC2;
+            channelAddress = (uint32_t)(&WS2811_TIMER->CCR2);
+            TIM_OC2PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+            break;        
+        case TIM_Channel_3:
+            TIM_OC3Init(WS2811_TIMER, &TIM_OCInitStructure);
+            timDMASource = TIM_DMA_CC3;
+            channelAddress = (uint32_t)(&WS2811_TIMER->CCR3);
+            TIM_OC3PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+            break;        
+        case TIM_Channel_4:
+            TIM_OC4Init(WS2811_TIMER, &TIM_OCInitStructure);
+            timDMASource = TIM_DMA_CC4;
+            channelAddress = (uint32_t)(&WS2811_TIMER->CCR4);
+            TIM_OC4PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
+            break;        
     }
     
     TIM_CtrlPWMOutputs(WS2811_TIMER, ENABLE);    
diff --git a/src/main/drivers/timer_stm32f4xx.c b/src/main/drivers/timer_stm32f4xx.c
index 9b81d936a..af09f85e1 100644
--- a/src/main/drivers/timer_stm32f4xx.c
+++ b/src/main/drivers/timer_stm32f4xx.c
@@ -35,15 +35,15 @@
 #define CCMR_Offset                 ((uint16_t)0x0018)
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
-    { .TIMx = TIM1, .rcc = RCC_APB2(TIM1),   GPIO_AF_TIM1  },
-    { .TIMx = TIM2, .rcc = RCC_APB1(TIM2),   GPIO_AF_TIM2  },
-    { .TIMx = TIM3, .rcc = RCC_APB1(TIM3),   GPIO_AF_TIM3  },
-    { .TIMx = TIM4, .rcc = RCC_APB1(TIM4),   GPIO_AF_TIM4  },
-    { .TIMx = TIM5, .rcc = RCC_APB1(TIM5),   GPIO_AF_TIM5  },
-    { .TIMx = TIM6, .rcc = RCC_APB1(TIM6),   0  },
-    { .TIMx = TIM7, .rcc = RCC_APB1(TIM7),   0  },
-    { .TIMx = TIM8, .rcc = RCC_APB2(TIM8),   GPIO_AF_TIM8  },
-    { .TIMx = TIM9, .rcc = RCC_APB2(TIM9),   GPIO_AF_TIM9  },
+    { .TIMx = TIM1,  .rcc = RCC_APB2(TIM1),  GPIO_AF_TIM1  },
+    { .TIMx = TIM2,  .rcc = RCC_APB1(TIM2),  GPIO_AF_TIM2  },
+    { .TIMx = TIM3,  .rcc = RCC_APB1(TIM3),  GPIO_AF_TIM3  },
+    { .TIMx = TIM4,  .rcc = RCC_APB1(TIM4),  GPIO_AF_TIM4  },
+    { .TIMx = TIM5,  .rcc = RCC_APB1(TIM5),  GPIO_AF_TIM5  },
+    { .TIMx = TIM6,  .rcc = RCC_APB1(TIM6),  0             },
+    { .TIMx = TIM7,  .rcc = RCC_APB1(TIM7),  0             },
+    { .TIMx = TIM8,  .rcc = RCC_APB2(TIM8),  GPIO_AF_TIM8  },
+    { .TIMx = TIM9,  .rcc = RCC_APB2(TIM9),  GPIO_AF_TIM9  },
     { .TIMx = TIM10, .rcc = RCC_APB2(TIM10), GPIO_AF_TIM10 },
     { .TIMx = TIM11, .rcc = RCC_APB2(TIM11), GPIO_AF_TIM11 },
     { .TIMx = TIM12, .rcc = RCC_APB1(TIM12), GPIO_AF_TIM12 },
@@ -53,35 +53,32 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
 
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode)
 {
-  uint32_t tmp = 0;
+    uint32_t tmp = 0;
 
-  /* Check the parameters */
-  assert_param(IS_TIM_LIST8_PERIPH(TIMx));
-  assert_param(IS_TIM_CHANNEL(TIM_Channel));
-  assert_param(IS_TIM_OCM(TIM_OCMode));
+    /* Check the parameters */
+    assert_param(IS_TIM_LIST8_PERIPH(TIMx));
+    assert_param(IS_TIM_CHANNEL(TIM_Channel));
+    assert_param(IS_TIM_OCM(TIM_OCMode));
 
-  tmp = (uint32_t) TIMx;
-  tmp += CCMR_Offset;
+    tmp = (uint32_t) TIMx;
+    tmp += CCMR_Offset;
 
-  if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3))
-  {
-    tmp += (TIM_Channel>>1);
+    if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3)) {
+        tmp += (TIM_Channel>>1);
 
-    /* Reset the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
+        /* Reset the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
 
-    /* Configure the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp |= TIM_OCMode;
-  }
-  else
-  {
-    tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1;
+        /* Configure the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp |= TIM_OCMode;
+    } else {
+        tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1;
 
-    /* Reset the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
+        /* Reset the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
 
-    /* Configure the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
-  }
+        /* Configure the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
+    }
 }
 

From a66820382c7f9a6238de3a4a2993813d306bfb6c Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 2 Jul 2016 19:47:37 +1000
Subject: [PATCH 40/54] More formatting (minor cleanup)

---
 src/main/drivers/timer_stm32f10x.c | 43 ++++++++++-----------
 src/main/drivers/timer_stm32f30x.c | 60 +++++++++++++++---------------
 2 files changed, 50 insertions(+), 53 deletions(-)

diff --git a/src/main/drivers/timer_stm32f10x.c b/src/main/drivers/timer_stm32f10x.c
index 27e9df381..09ef0efc8 100644
--- a/src/main/drivers/timer_stm32f10x.c
+++ b/src/main/drivers/timer_stm32f10x.c
@@ -57,34 +57,31 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
 
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode)
 {
-  uint32_t tmp = 0;
+    uint32_t tmp = 0;
 
-  /* Check the parameters */
-  assert_param(IS_TIM_LIST8_PERIPH(TIMx));
-  assert_param(IS_TIM_CHANNEL(TIM_Channel));
-  assert_param(IS_TIM_OCM(TIM_OCMode));
+    /* Check the parameters */
+    assert_param(IS_TIM_LIST8_PERIPH(TIMx));
+    assert_param(IS_TIM_CHANNEL(TIM_Channel));
+    assert_param(IS_TIM_OCM(TIM_OCMode));
 
-  tmp = (uint32_t) TIMx;
-  tmp += CCMR_Offset;
+    tmp = (uint32_t) TIMx;
+    tmp += CCMR_Offset;
 
-  if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3))
-  {
-    tmp += (TIM_Channel>>1);
+    if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3)) {
+        tmp += (TIM_Channel>>1);
 
-    /* Reset the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
+        /* Reset the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
 
-    /* Configure the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp |= TIM_OCMode;
-  }
-  else
-  {
-    tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1;
+        /* Configure the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp |= TIM_OCMode;
+    } else {
+        tmp += (uint16_t)(TIM_Channel - (uint16_t)4) >> (uint16_t)1;
 
-    /* Reset the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
+        /* Reset the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
 
-    /* Configure the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
-  }
+        /* Configure the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
+    }
 }
diff --git a/src/main/drivers/timer_stm32f30x.c b/src/main/drivers/timer_stm32f30x.c
index baad75634..033aa316c 100644
--- a/src/main/drivers/timer_stm32f30x.c
+++ b/src/main/drivers/timer_stm32f30x.c
@@ -10,16 +10,16 @@
 #include "timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
-    { .TIMx = TIM1,  .rcc = RCC_APB2(TIM1),  GPIO_AF_6    },
-    { .TIMx = TIM2,  .rcc = RCC_APB1(TIM2),  GPIO_AF_1    },
-    { .TIMx = TIM3,  .rcc = RCC_APB1(TIM3),  GPIO_AF_2    },
-    { .TIMx = TIM4,  .rcc = RCC_APB1(TIM4),  GPIO_AF_10   },
-    { .TIMx = TIM6,  .rcc = RCC_APB1(TIM6),  0   },
-    { .TIMx = TIM7,  .rcc = RCC_APB1(TIM7),  0   },
-    { .TIMx = TIM8,  .rcc = RCC_APB2(TIM8),   GPIO_AF_5  },
-    { .TIMx = TIM15, .rcc = RCC_APB2(TIM15),  GPIO_AF_9  },
-    { .TIMx = TIM16, .rcc = RCC_APB2(TIM16),  GPIO_AF_1  },
-    { .TIMx = TIM17, .rcc = RCC_APB2(TIM17),  GPIO_AF_1  },
+    { .TIMx = TIM1,  .rcc = RCC_APB2(TIM1),  GPIO_AF_6  },
+    { .TIMx = TIM2,  .rcc = RCC_APB1(TIM2),  GPIO_AF_1  },
+    { .TIMx = TIM3,  .rcc = RCC_APB1(TIM3),  GPIO_AF_2  },
+    { .TIMx = TIM4,  .rcc = RCC_APB1(TIM4),  GPIO_AF_10 },
+    { .TIMx = TIM6,  .rcc = RCC_APB1(TIM6),  0          },
+    { .TIMx = TIM7,  .rcc = RCC_APB1(TIM7),  0          },
+    { .TIMx = TIM8,  .rcc = RCC_APB2(TIM8),  GPIO_AF_5  },
+    { .TIMx = TIM15, .rcc = RCC_APB2(TIM15), GPIO_AF_9  },
+    { .TIMx = TIM16, .rcc = RCC_APB2(TIM16), GPIO_AF_1  },
+    { .TIMx = TIM17, .rcc = RCC_APB2(TIM17), GPIO_AF_1  },
 };
 
 
@@ -58,31 +58,31 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
 
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint32_t TIM_OCMode)
 {
-  uint32_t tmp = 0;
+    uint32_t tmp = 0;
 
-  /* Check the parameters */
-  assert_param(IS_TIM_LIST1_PERIPH(TIMx));
-  assert_param(IS_TIM_CHANNEL(TIM_Channel));
-  assert_param(IS_TIM_OCM(TIM_OCMode));
+    /* Check the parameters */
+    assert_param(IS_TIM_LIST1_PERIPH(TIMx));
+    assert_param(IS_TIM_CHANNEL(TIM_Channel));
+    assert_param(IS_TIM_OCM(TIM_OCMode));
 
-  tmp = (uint32_t) TIMx;
-  tmp += CCMR_OFFSET;
+    tmp = (uint32_t) TIMx;
+    tmp += CCMR_OFFSET;
 
-  if ((TIM_Channel == TIM_Channel_1) || (TIM_Channel == TIM_Channel_3)) {
-    tmp += (TIM_Channel>>1);
+    if ((TIM_Channel == TIM_Channel_1) || (TIM_Channel == TIM_Channel_3)) {
+        tmp += (TIM_Channel>>1);
 
-    /* Reset the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp &= CCMR_OC13M_MASK;
+        /* Reset the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp &= CCMR_OC13M_MASK;
 
-    /* Configure the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp |= TIM_OCMode;
-  } else {
-    tmp += (uint32_t)(TIM_Channel - (uint32_t)4)>> (uint32_t)1;
+        /* Configure the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp |= TIM_OCMode;
+    } else {
+        tmp += (uint32_t)(TIM_Channel - (uint32_t)4) >> (uint32_t)1;
 
-    /* Reset the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp &= CCMR_OC24M_MASK;
+        /* Reset the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp &= CCMR_OC24M_MASK;
 
-    /* Configure the OCxM bits in the CCMRx register */
-    *(__IO uint32_t *) tmp |= (uint32_t)(TIM_OCMode << 8);
-  }
+        /* Configure the OCxM bits in the CCMRx register */
+        *(__IO uint32_t *) tmp |= (uint32_t)(TIM_OCMode << 8);
+    }
 }

From 2a340c137a189cc410ecd13671724a63ec43d075 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Tue, 21 Jun 2016 23:45:37 +0100
Subject: [PATCH 41/54] Made headers in target.h files consistent.

---
 src/main/target/ALIENFLIGHTF3/target.c    | 17 ++++++++++++++++-
 src/main/target/ALIENFLIGHTF4/target.c    | 19 ++++++++++++++++++-
 src/main/target/BLUEJAYF4/target.c        | 17 ++++++++++++++++-
 src/main/target/CC3D/target.c             | 17 ++++++++++++++++-
 src/main/target/CHEBUZZF3/target.c        | 18 +++++++++++++++++-
 src/main/target/CJMCU/target.c            | 17 ++++++++++++++++-
 src/main/target/COLIBRI_RACE/target.c     | 17 ++++++++++++++++-
 src/main/target/DOGE/target.c             | 18 +++++++++++++++++-
 src/main/target/EUSTM32F103RC/target.c    | 18 +++++++++++++++++-
 src/main/target/FURYF3/target.c           | 18 +++++++++++++++++-
 src/main/target/FURYF4/target.c           | 18 +++++++++++++++++-
 src/main/target/IRCFUSIONF3/target.c      | 18 +++++++++++++++++-
 src/main/target/KISSFC/target.c           | 18 +++++++++++++++++-
 src/main/target/LUX_RACE/target.c         | 18 +++++++++++++++++-
 src/main/target/MOTOLAB/target.c          | 18 +++++++++++++++++-
 src/main/target/NAZE/target.c             | 18 +++++++++++++++++-
 src/main/target/OMNIBUS/target.c          | 18 +++++++++++++++++-
 src/main/target/PIKOBLX/target.c          | 18 +++++++++++++++++-
 src/main/target/PORT103R/target.c         | 18 +++++++++++++++++-
 src/main/target/REVO/target.c             | 18 +++++++++++++++++-
 src/main/target/REVONANO/target.c         |  2 +-
 src/main/target/RMDO/target.c             | 18 +++++++++++++++++-
 src/main/target/SINGULARITY/target.c      | 18 +++++++++++++++++-
 src/main/target/SIRINFPV/target.c         | 18 +++++++++++++++++-
 src/main/target/SPARKY/target.c           | 18 +++++++++++++++++-
 src/main/target/SPRACINGF3/target.c       | 17 ++++++++++++++++-
 src/main/target/SPRACINGF3EVO/target.c    | 17 ++++++++++++++++-
 src/main/target/SPRACINGF3MINI/target.c   | 17 ++++++++++++++++-
 src/main/target/STM32F3DISCOVERY/target.c | 17 ++++++++++++++++-
 29 files changed, 469 insertions(+), 29 deletions(-)

diff --git a/src/main/target/ALIENFLIGHTF3/target.c b/src/main/target/ALIENFLIGHTF3/target.c
index ad85d7b9b..437bbbf0a 100644
--- a/src/main/target/ALIENFLIGHTF3/target.c
+++ b/src/main/target/ALIENFLIGHTF3/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/ALIENFLIGHTF4/target.c b/src/main/target/ALIENFLIGHTF4/target.c
index e6024280f..1aef43a59 100644
--- a/src/main/target/ALIENFLIGHTF4/target.c
+++ b/src/main/target/ALIENFLIGHTF4/target.c
@@ -1,5 +1,22 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
 
-#include <stdbool.h>
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index 24df5a739..f005e5d1a 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/CC3D/target.c b/src/main/target/CC3D/target.c
index c685f7e35..c657054d6 100644
--- a/src/main/target/CC3D/target.c
+++ b/src/main/target/CC3D/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/CHEBUZZF3/target.c b/src/main/target/CHEBUZZF3/target.c
index 132ff783f..631d83e6a 100644
--- a/src/main/target/CHEBUZZF3/target.c
+++ b/src/main/target/CHEBUZZF3/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/CJMCU/target.c b/src/main/target/CJMCU/target.c
index 926f3efa0..0f8228559 100644
--- a/src/main/target/CJMCU/target.c
+++ b/src/main/target/CJMCU/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/COLIBRI_RACE/target.c b/src/main/target/COLIBRI_RACE/target.c
index 675067e06..91b21c8b3 100644
--- a/src/main/target/COLIBRI_RACE/target.c
+++ b/src/main/target/COLIBRI_RACE/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/DOGE/target.c b/src/main/target/DOGE/target.c
index ebd5e6f1f..c07a92541 100644
--- a/src/main/target/DOGE/target.c
+++ b/src/main/target/DOGE/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/EUSTM32F103RC/target.c b/src/main/target/EUSTM32F103RC/target.c
index 6e1b4ae6b..b2a0db9a1 100644
--- a/src/main/target/EUSTM32F103RC/target.c
+++ b/src/main/target/EUSTM32F103RC/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/FURYF3/target.c b/src/main/target/FURYF3/target.c
index 4dc593bb3..c2e230b9a 100644
--- a/src/main/target/FURYF3/target.c
+++ b/src/main/target/FURYF3/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/FURYF4/target.c b/src/main/target/FURYF4/target.c
index c5bb0486c..ac600ea43 100644
--- a/src/main/target/FURYF4/target.c
+++ b/src/main/target/FURYF4/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/IRCFUSIONF3/target.c b/src/main/target/IRCFUSIONF3/target.c
index 7207468fa..e31aa3a7b 100644
--- a/src/main/target/IRCFUSIONF3/target.c
+++ b/src/main/target/IRCFUSIONF3/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 60f2a0736..07450ad50 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/LUX_RACE/target.c b/src/main/target/LUX_RACE/target.c
index e26bb2950..adee79183 100644
--- a/src/main/target/LUX_RACE/target.c
+++ b/src/main/target/LUX_RACE/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/MOTOLAB/target.c b/src/main/target/MOTOLAB/target.c
index b624db7cc..a89063cc9 100644
--- a/src/main/target/MOTOLAB/target.c
+++ b/src/main/target/MOTOLAB/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/NAZE/target.c b/src/main/target/NAZE/target.c
index 110ce3140..b7c13f56b 100644
--- a/src/main/target/NAZE/target.c
+++ b/src/main/target/NAZE/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/OMNIBUS/target.c b/src/main/target/OMNIBUS/target.c
index 94250435a..d895b571c 100644
--- a/src/main/target/OMNIBUS/target.c
+++ b/src/main/target/OMNIBUS/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/PIKOBLX/target.c b/src/main/target/PIKOBLX/target.c
index b624db7cc..a89063cc9 100644
--- a/src/main/target/PIKOBLX/target.c
+++ b/src/main/target/PIKOBLX/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/PORT103R/target.c b/src/main/target/PORT103R/target.c
index 42ce07bec..8f21b7cbb 100644
--- a/src/main/target/PORT103R/target.c
+++ b/src/main/target/PORT103R/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index b32c5175f..9a30df53b 100644
--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/REVONANO/target.c b/src/main/target/REVONANO/target.c
index 53d404217..9a579f2bc 100644
--- a/src/main/target/REVONANO/target.c
+++ b/src/main/target/REVONANO/target.c
@@ -15,10 +15,10 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/RMDO/target.c b/src/main/target/RMDO/target.c
index eaeb18fca..1bea16f50 100644
--- a/src/main/target/RMDO/target.c
+++ b/src/main/target/RMDO/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/SINGULARITY/target.c b/src/main/target/SINGULARITY/target.c
index 645bd323f..813157951 100644
--- a/src/main/target/SINGULARITY/target.c
+++ b/src/main/target/SINGULARITY/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/SIRINFPV/target.c b/src/main/target/SIRINFPV/target.c
index dfe1517fb..0630b527d 100644
--- a/src/main/target/SIRINFPV/target.c
+++ b/src/main/target/SIRINFPV/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/SPARKY/target.c b/src/main/target/SPARKY/target.c
index d5ecdcc96..389617278 100644
--- a/src/main/target/SPARKY/target.c
+++ b/src/main/target/SPARKY/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/SPRACINGF3/target.c b/src/main/target/SPRACINGF3/target.c
index 122f07bb0..bf2a06da4 100644
--- a/src/main/target/SPRACINGF3/target.c
+++ b/src/main/target/SPRACINGF3/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/SPRACINGF3EVO/target.c b/src/main/target/SPRACINGF3EVO/target.c
index 1ac9743d3..171f6be27 100644
--- a/src/main/target/SPRACINGF3EVO/target.c
+++ b/src/main/target/SPRACINGF3EVO/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/SPRACINGF3MINI/target.c b/src/main/target/SPRACINGF3MINI/target.c
index bc0d06cee..214dab656 100644
--- a/src/main/target/SPRACINGF3MINI/target.c
+++ b/src/main/target/SPRACINGF3MINI/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
diff --git a/src/main/target/STM32F3DISCOVERY/target.c b/src/main/target/STM32F3DISCOVERY/target.c
index dcf2426ce..583c10f66 100644
--- a/src/main/target/STM32F3DISCOVERY/target.c
+++ b/src/main/target/STM32F3DISCOVERY/target.c
@@ -1,5 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>

From 405d9f051aad299691a60e1a7905d757e8877d7f Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 2 Jul 2016 21:35:52 +1000
Subject: [PATCH 42/54] Added debugging counters

---
 src/main/io/serial_4way.c              | 4 ++--
 src/main/io/serial_4way_avrootloader.c | 2 +-
 src/main/vcpf4/usbd_cdc_vcp.c          | 8 +++++---
 src/main/vcpf4/usbd_cdc_vcp.h          | 2 +-
 4 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/main/io/serial_4way.c b/src/main/io/serial_4way.c
index 81742c96f..49c580541 100644
--- a/src/main/io/serial_4way.c
+++ b/src/main/io/serial_4way.c
@@ -359,6 +359,7 @@ void esc4wayProcess(serialPort_t *serial)
         TX_LED_ON;
         if (replyAck == esc4wayAck_OK)
             replyAck = esc4wayProcessCmd(command, addr, paramBuf, inLen, &outLen);
+        RX_LED_OFF;
 
         // send single '\0' byte is output when length is zero (len ==0 -> 256 bytes)
         if(!outLen) {
@@ -366,7 +367,6 @@ void esc4wayProcess(serialPort_t *serial)
             outLen = 1;
         }
 
-        RX_LED_OFF;
         crcOut = 0;
         serialBeginWrite(port);
         writeByteCrc(cmd_Remote_Escape);
@@ -374,7 +374,7 @@ void esc4wayProcess(serialPort_t *serial)
         writeByteCrc(addr >> 8);
         writeByteCrc(addr & 0xff);
         writeByteCrc(outLen & 0xff);          // only low byte is send, 0x00 -> 256B
-        for(int i = 0; i < outLen; i++)
+        for(int i = 0; i < outLen % 0x100; i++)
             writeByteCrc(paramBuf[i]);
         writeByteCrc(replyAck);
         writeByte(crcOut >> 8);
diff --git a/src/main/io/serial_4way_avrootloader.c b/src/main/io/serial_4way_avrootloader.c
index efb461026..01a598e8b 100644
--- a/src/main/io/serial_4way_avrootloader.c
+++ b/src/main/io/serial_4way_avrootloader.c
@@ -238,7 +238,7 @@ void BL_SendCMDRunRestartBootloader(void)
 static uint8_t BL_SendCMDSetAddress(ioMem_t *pMem) //supports only 16 bit Adr
 {
     // skip if adr == 0xFFFF
-    if((pMem->addr == 0xffff))
+    if(pMem->addr == 0xffff)
         return 1;
     uint8_t sCMD[] = {CMD_SET_ADDRESS, 0, pMem->addr >> 8, pMem->addr & 0xff };
     BL_SendBuf(sCMD, sizeof(sCMD), true);
diff --git a/src/main/vcpf4/usbd_cdc_vcp.c b/src/main/vcpf4/usbd_cdc_vcp.c
index e4681418b..8b789fa48 100644
--- a/src/main/vcpf4/usbd_cdc_vcp.c
+++ b/src/main/vcpf4/usbd_cdc_vcp.c
@@ -218,18 +218,20 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
  * @param  Len: Number of data received (in bytes)
  * @retval Result of the opeartion: USBD_OK if all operations are OK else VCP_FAIL
  */
+static uint32_t rxTotalBytes = 0;
+static uint32_t rxPackets = 0;
+
 static uint16_t VCP_DataRx(uint8_t* Buf, uint32_t Len)
 {
-    __disable_irq();
+    rxPackets++;
 
     for (uint32_t i = 0; i < Len; i++) {
         usbData.buffer[usbData.bufferInPosition] = Buf[i];
         usbData.bufferInPosition = (usbData.bufferInPosition + 1) % USB_RX_BUFSIZE;
         receiveLength++;
+        rxTotalBytes++;
     }
 
-    __enable_irq();
-
     if(receiveLength > (USB_RX_BUFSIZE-1))
         return USBD_FAIL;
     
diff --git a/src/main/vcpf4/usbd_cdc_vcp.h b/src/main/vcpf4/usbd_cdc_vcp.h
index 7cc0f8feb..df1e29001 100644
--- a/src/main/vcpf4/usbd_cdc_vcp.h
+++ b/src/main/vcpf4/usbd_cdc_vcp.h
@@ -34,7 +34,7 @@
 #include "usbd_usr.h"
 #include "usbd_desc.h"
 
-#define USB_RX_BUFSIZE      1024
+#define USB_RX_BUFSIZE      2048
 
 __ALIGN_BEGIN USB_OTG_CORE_HANDLE  USB_OTG_dev __ALIGN_END;
 

From f2122e88d9e308ff778bcf333407b1ec1ab1cbd6 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sat, 2 Jul 2016 12:53:47 +0100
Subject: [PATCH 43/54] Tidied whitespace in target files

---
 src/main/target/ALIENFLIGHTF3/target.c    |  29 +++---
 src/main/target/ALIENFLIGHTF4/target.c    | 104 +++++++++++-----------
 src/main/target/CC3D/target.c             |  14 +--
 src/main/target/LUX_RACE/target.c         |  12 +--
 src/main/target/NAZE/target.c             |  12 +--
 src/main/target/REVO/target.c             |  14 +--
 src/main/target/STM32F3DISCOVERY/target.c |  40 ++++-----
 7 files changed, 108 insertions(+), 117 deletions(-)

diff --git a/src/main/target/ALIENFLIGHTF3/target.c b/src/main/target/ALIENFLIGHTF3/target.c
index 437bbbf0a..57fc41763 100644
--- a/src/main/target/ALIENFLIGHTF3/target.c
+++ b/src/main/target/ALIENFLIGHTF3/target.c
@@ -24,16 +24,16 @@
 const uint16_t multiPPM[] = {
     PWM11 | (MAP_TO_PPM_INPUT << 8), // PPM input
 
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM15
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM15
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM1
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM3
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM3
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM2
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM3
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM17
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM3
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // TIM2
     0xFFFF
 };
 
@@ -63,10 +63,7 @@ const uint16_t airPWM[] = {
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    //
     // 6 x 3 pin headers
-    //
-
     { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
     { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
@@ -74,20 +71,14 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
     { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
 
-    //
     // 6 pin header
-    //
-
     // PWM7-10
     { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
     { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
     { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM9  - PA4  - *TIM3_CH2
     { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
 
-    //
     // PPM PORT - Also USART2 RX (AF5)
-    //
-
     { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,                0, IOCFG_IPD, GPIO_AF_1 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
     //{ TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
 
diff --git a/src/main/target/ALIENFLIGHTF4/target.c b/src/main/target/ALIENFLIGHTF4/target.c
index 1aef43a59..efedb5668 100644
--- a/src/main/target/ALIENFLIGHTF4/target.c
+++ b/src/main/target/ALIENFLIGHTF4/target.c
@@ -22,70 +22,70 @@
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
-    PWM1  | (MAP_TO_PPM_INPUT << 8),         // PPM input
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #1 or servo #1 (swap to servo if needed)
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #2 or servo #2 (swap to servo if needed)
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #3 or #1
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #4 or #2
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #5 or #3
-    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #6 or #4
-    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #7 or #5
-    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #8 or #6
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1 or servo #1 (swap to servo if needed)
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2 or servo #2 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #3 or #1
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #4 or #2
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #5 or #3
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #6 or #4
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #7 or #5
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #8 or #6
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     0xFFFF
 };
 
 const uint16_t multiPWM[] = {
-    PWM1  | (MAP_TO_PWM_INPUT << 8),         // input #1
-    PWM2  | (MAP_TO_PWM_INPUT << 8),         // input #2
-    PWM3  | (MAP_TO_PWM_INPUT << 8),         // input #3
-    PWM4  | (MAP_TO_PWM_INPUT << 8),         // input #4
-    PWM5  | (MAP_TO_PWM_INPUT << 8),         // input #5
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #1 or servo #1 (swap to servo if needed)
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #2 or servo #2 (swap to servo if needed)
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #3 or #1
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #4 or #2
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #5 or #3
-    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #6 or #4
-    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #7 or #5
-    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #8 or #6
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),     // input #2
+    PWM3  | (MAP_TO_PWM_INPUT << 8),     // input #3
+    PWM4  | (MAP_TO_PWM_INPUT << 8),     // input #4
+    PWM5  | (MAP_TO_PWM_INPUT << 8),     // input #5
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1 or servo #1 (swap to servo if needed)
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2 or servo #2 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #3 or #1
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #4 or #2
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #5 or #3
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #6 or #4
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #7 or #5
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #8 or #6
     0xFFFF
 };
 
 const uint16_t airPPM[] = {
-    PWM1  | (MAP_TO_PPM_INPUT << 8),        // PPM input
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),     // motor #1
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),     // motor #2
-    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),     // servo #1
-    PWM9  | (MAP_TO_SERVO_OUTPUT << 8),     // servo #2
-    PWM10 | (MAP_TO_SERVO_OUTPUT << 8),     // servo #3
-    PWM11 | (MAP_TO_SERVO_OUTPUT << 8),     // servo #4
-    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),     // servo #5
-    PWM13 | (MAP_TO_SERVO_OUTPUT << 8),     // servo #6
-    PWM2  | (MAP_TO_SERVO_OUTPUT << 8),     // servo #7
-    PWM3  | (MAP_TO_SERVO_OUTPUT << 8),     // servo #8
-    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),     // servo #9
-    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),     // servo #10
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2
+    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #1
+    PWM9  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #2
+    PWM10 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #3
+    PWM11 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #4
+    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #5
+    PWM13 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #6
+    PWM2  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #7
+    PWM3  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #8
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #9
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #10
     0xFFFF
 };
 
 const uint16_t airPWM[] = {
-    PWM1  | (MAP_TO_PWM_INPUT << 8),         // input #1
-    PWM2  | (MAP_TO_PWM_INPUT << 8),         // input #2
-    PWM3  | (MAP_TO_PWM_INPUT << 8),         // input #3
-    PWM4  | (MAP_TO_PWM_INPUT << 8),         // input #4
-    PWM5  | (MAP_TO_PWM_INPUT << 8),         // input #5
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #1
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #2
-    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),      // servo #1
-    PWM9  | (MAP_TO_SERVO_OUTPUT << 8),      // servo #2
-    PWM10 | (MAP_TO_SERVO_OUTPUT << 8),      // servo #3
-    PWM11 | (MAP_TO_SERVO_OUTPUT << 8),      // servo #4
-    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),      // servo #5
-    PWM13 | (MAP_TO_SERVO_OUTPUT << 8),      // servo #6
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),     // input #2
+    PWM3  | (MAP_TO_PWM_INPUT << 8),     // input #3
+    PWM4  | (MAP_TO_PWM_INPUT << 8),     // input #4
+    PWM5  | (MAP_TO_PWM_INPUT << 8),     // input #5
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2
+    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #1
+    PWM9  | (MAP_TO_SERVO_OUTPUT << 8),  // servo #2
+    PWM10 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #3
+    PWM11 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #4
+    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #5
+    PWM13 | (MAP_TO_SERVO_OUTPUT << 8),  // servo #6
     0xFFFF
 };
 
diff --git a/src/main/target/CC3D/target.c b/src/main/target/CC3D/target.c
index c657054d6..a870de9e2 100644
--- a/src/main/target/CC3D/target.c
+++ b/src/main/target/CC3D/target.c
@@ -23,16 +23,16 @@
 
 const uint16_t multiPPM[] = {
     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #1
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #2
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #3
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),      // motor #4
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #3
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #4
     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     0xFFFF
 };
 
diff --git a/src/main/target/LUX_RACE/target.c b/src/main/target/LUX_RACE/target.c
index adee79183..91b21c8b3 100644
--- a/src/main/target/LUX_RACE/target.c
+++ b/src/main/target/LUX_RACE/target.c
@@ -72,12 +72,12 @@ const uint16_t airPWM[] = {
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),			// Swap to servo if needed
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),			// Swap to servo if needed
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
-    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
-    PWM11  | (MAP_TO_MOTOR_OUTPUT << 8),      	// Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+    PWM11  | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
     0xFFFF
 };
 
diff --git a/src/main/target/NAZE/target.c b/src/main/target/NAZE/target.c
index b7c13f56b..7116b5355 100644
--- a/src/main/target/NAZE/target.c
+++ b/src/main/target/NAZE/target.c
@@ -23,16 +23,16 @@
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     0xFFFF
 };
 
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index 9a30df53b..03f60516d 100644
--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@@ -23,17 +23,17 @@
 
 const uint16_t multiPPM[] = {
     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     0xFFFF
 };
 
diff --git a/src/main/target/STM32F3DISCOVERY/target.c b/src/main/target/STM32F3DISCOVERY/target.c
index 583c10f66..1712bebae 100644
--- a/src/main/target/STM32F3DISCOVERY/target.c
+++ b/src/main/target/STM32F3DISCOVERY/target.c
@@ -23,16 +23,16 @@
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     0xFFFF
 };
 
@@ -45,27 +45,27 @@ const uint16_t multiPWM[] = {
     PWM6  | (MAP_TO_PWM_INPUT << 8),
     PWM7  | (MAP_TO_PWM_INPUT << 8),
     PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),      // motor #1 or servo #1 (swap to servo if needed)
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 or servo #2 (swap to servo if needed)
-    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 or #3
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
     PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
-    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #4 or #6
     0xFFFF
 };
 
 const uint16_t airPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),      // motor #1
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
-    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
-    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),      // servo #5
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #5
     PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8),      // servo #8
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #8
     0xFFFF
 };
 
@@ -78,12 +78,12 @@ const uint16_t airPWM[] = {
     PWM6  | (MAP_TO_PWM_INPUT << 8),
     PWM7  | (MAP_TO_PWM_INPUT << 8),
     PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),      // motor #1
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
-    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
     0xFFFF
 };
 

From 2123a758e7e55223ac7b306f1c276b100d81ad7c Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sat, 2 Jul 2016 15:23:19 +0100
Subject: [PATCH 44/54] Allowed setting of default serial rx in target.h

---
 src/main/config/config.c               | 24 ++++++++----------------
 src/main/target/ALIENFLIGHTF3/target.h |  2 +-
 src/main/target/COLIBRI_RACE/target.h  |  6 ++++--
 src/main/target/KISSFC/target.h        |  3 ++-
 src/main/target/NAZE/target.h          |  1 +
 src/main/target/OLIMEXINO/target.c     | 18 +++++++++++++++++-
 src/main/target/SINGULARITY/target.h   |  6 +++---
 7 files changed, 36 insertions(+), 24 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 5bcd1e923..755598e4d 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -645,7 +645,13 @@ static void resetConf(void)
     masterConfig.blackbox_rate_denom = 1;
 
 #endif // BLACKBOX
-    
+
+#ifdef SERIALRX_UART
+    if (featureConfigured(FEATURE_RX_SERIAL)) {
+        masterConfig.serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
+    }
+#endif
+
     // alternative defaults settings for COLIBRI RACE targets
 #if defined(COLIBRI_RACE)
     masterConfig.escAndServoConfig.minthrottle = 1025;
@@ -660,11 +666,6 @@ static void resetConf(void)
 
 #if defined(ALIENFLIGHT) 
     featureClear(FEATURE_ONESHOT125);
-#ifdef ALIENFLIGHTF1
-    masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
-#else
-    masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
-#endif
 #ifdef ALIENFLIGHTF3
     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 #endif
@@ -688,11 +689,6 @@ static void resetConf(void)
     masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
 #endif
 
-#if defined(SINGULARITY)
-    // alternative defaults settings for SINGULARITY target
-    masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
-#endif
-
     // copy first profile into remaining profile
     for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
@@ -901,15 +897,11 @@ void validateAndFixConfig(void)
 
 #if defined(COLIBRI_RACE)
     masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
-    if(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
+    if (featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
         featureClear(FEATURE_RX_PARALLEL_PWM);
         featureClear(FEATURE_RX_MSP);
         featureSet(FEATURE_RX_PPM);
     }
-    if(featureConfigured(FEATURE_RX_SERIAL)) {
-        masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
-        //masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
-    }
 #endif
 
     useRxConfig(&masterConfig.rxConfig);
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index a5d1b042f..4cd3d955c 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -117,7 +117,6 @@
 #define USE_ADC
 
 #define ADC_INSTANCE         ADC2
-//#define BOARD_HAS_VOLTAGE_DIVIDER
 #define VBAT_ADC_PIN         PA4
 #define VBAT_SCALE_DEFAULT   20
 
@@ -133,6 +132,7 @@
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
+#define SERIALRX_UART           SERIAL_PORT_USART3
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 976b287a0..449a65e26 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -113,7 +113,6 @@
 
 #define USE_ADC
 #define ADC_INSTANCE                ADC1
-#define BOARD_HAS_VOLTAGE_DIVIDER
 #define VBAT_ADC_PIN                PC0
 #define CURRENT_METER_ADC_PIN       PC1
 #define RSSI_ADC_PIN                PC2
@@ -144,7 +143,10 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES        FEATURE_VBAT
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART3
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index 9095ef701..d5679d6f2 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -81,7 +81,8 @@
 
 #define DEFAULT_FEATURES        FEATURE_VBAT
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SBUS;
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
 
 #define SPEKTRUM_BIND
 #define BIND_PIN   PB4
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index df73f8e4f..1bc1ded34 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -180,6 +180,7 @@
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
+#define SERIALRX_UART           SERIAL_PORT_USART2
 
 #define HARDWARE_BIND_PLUG
 // Hardware bind plug at PB5 (Pin 41)
diff --git a/src/main/target/OLIMEXINO/target.c b/src/main/target/OLIMEXINO/target.c
index 1b75af422..ea20267b3 100644
--- a/src/main/target/OLIMEXINO/target.c
+++ b/src/main/target/OLIMEXINO/target.c
@@ -1,8 +1,24 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-#include <stdbool.h>
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h
index f58dcbe96..814b72420 100644
--- a/src/main/target/SINGULARITY/target.h
+++ b/src/main/target/SINGULARITY/target.h
@@ -91,7 +91,6 @@
 #define M25P16_SPI_INSTANCE     SPI2
 
 #define USE_ADC
-#define BOARD_HAS_VOLTAGE_DIVIDER
 
 #define ADC_INSTANCE                ADC2
 #define VBAT_ADC_PIN                PB2
@@ -115,8 +114,9 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_UART           SERIAL_PORT_USART3
 
 #define SPEKTRUM_BIND
 // USART2, PA15

From 8ee2e4f739b005f5850b06ff93942a8f3f984a13 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sat, 2 Jul 2016 15:31:00 +0100
Subject: [PATCH 45/54] Updated VBAT scale

---
 src/main/target/KISSFC/target.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index d5679d6f2..260a2bc57 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -73,7 +73,7 @@
 #define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_ADC
-#define VBAT_SCALE_DEFAULT          164
+#define VBAT_SCALE_DEFAULT          160
 #define ADC_INSTANCE                ADC1
 #define VBAT_ADC_PIN                PA0
 //#define CURRENT_METER_ADC_PIN       PA5

From 816c5d1b8b060bf7b62b931f2b71a637a9392fe6 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sat, 2 Jul 2016 21:14:56 +0100
Subject: [PATCH 46/54] Fixed Alien F4 serial RX UART.

---
 src/main/target/ALIENFLIGHTF4/target.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index d5122a486..2481ea697 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -176,6 +176,7 @@
 #define DEFAULT_FEATURES        (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
+#define SERIALRX_UART           SERIAL_PORT_USART3
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

From 72a6e701eb2bb0af06931807d50a9081c85ab4a6 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sun, 3 Jul 2016 07:44:35 +1000
Subject: [PATCH 47/54] Fixed build issue for F1, and added dfu CLI command
 (for restart in DFU mode)

---
 src/main/drivers/io.h               |  2 --
 src/main/drivers/system.h           |  1 +
 src/main/drivers/system_stm32f10x.c |  8 +++++++-
 src/main/drivers/system_stm32f30x.c |  9 ++++++++-
 src/main/drivers/system_stm32f4xx.c | 15 +++++++++++++++
 src/main/io/serial_4way.c           |  4 ++--
 src/main/io/serial_cli.c            | 24 +++++++++++++++++++++---
 7 files changed, 54 insertions(+), 9 deletions(-)

diff --git a/src/main/drivers/io.h b/src/main/drivers/io.h
index 121e7a0e1..315560e43 100644
--- a/src/main/drivers/io.h
+++ b/src/main/drivers/io.h
@@ -40,14 +40,12 @@ typedef uint8_t ioConfig_t;  // packed IO configuration
 #define IO_CONFIG(mode, speed) ((mode) | (speed))
 
 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_2MHz)
-#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_25MHz)
 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_Out_OD,      GPIO_Speed_2MHz)
 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF_PP,       GPIO_Speed_2MHz)
 #define IOCFG_AF_OD          IO_CONFIG(GPIO_Mode_AF_OD,       GPIO_Speed_2MHz)
 #define IOCFG_IPD            IO_CONFIG(GPIO_Mode_IPD,         GPIO_Speed_2MHz)
 #define IOCFG_IPU            IO_CONFIG(GPIO_Mode_IPU,         GPIO_Speed_2MHz)
 #define IOCFG_IN_FLOATING    IO_CONFIG(GPIO_Mode_IN_FLOATING, GPIO_Speed_2MHz)
-#define IOCFG_IPU_25         IO_CONFIG(GPIO_Mode_IPU,         GPIO_Speed_25MHz)
 
 #elif defined(STM32F3) || defined(STM32F4)
 
diff --git a/src/main/drivers/system.h b/src/main/drivers/system.h
index 92e17f8a8..c6d58aa74 100644
--- a/src/main/drivers/system.h
+++ b/src/main/drivers/system.h
@@ -42,6 +42,7 @@ void systemReset(void);
 void systemResetToBootloader(void);
 bool isMPUSoftReset(void);
 void cycleCounterInit(void);
+void checkForBootLoaderRequest(void);
 
 void enableGPIOPowerUsageAndNoiseReductions(void);
 // current crystal frequency - 8 or 12MHz
diff --git a/src/main/drivers/system_stm32f10x.c b/src/main/drivers/system_stm32f10x.c
index 4ad526850..3e59fe734 100644
--- a/src/main/drivers/system_stm32f10x.c
+++ b/src/main/drivers/system_stm32f10x.c
@@ -37,7 +37,8 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) {
+void systemResetToBootloader(void) 
+{
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC
 
@@ -68,6 +69,8 @@ bool isMPUSoftReset(void)
 
 void systemInit(void)
 {
+	checkForBootLoaderRequest();
+
     SetSysClock(false);
     
 #ifdef CC3D
@@ -110,3 +113,6 @@ void systemInit(void)
     SysTick_Config(SystemCoreClock / 1000);
 }
 
+void checkForBootLoaderRequest(void)
+{
+}
\ No newline at end of file
diff --git a/src/main/drivers/system_stm32f30x.c b/src/main/drivers/system_stm32f30x.c
index 7e58ab061..ee8aef1a0 100644
--- a/src/main/drivers/system_stm32f30x.c
+++ b/src/main/drivers/system_stm32f30x.c
@@ -35,7 +35,8 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) {
+void systemResetToBootloader(void) 
+{
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC
 
@@ -82,6 +83,8 @@ bool isMPUSoftReset(void)
 
 void systemInit(void)
 {
+	checkForBootLoaderRequest();
+
     // Enable FPU
     SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2));
     SetSysClock();
@@ -102,3 +105,7 @@ void systemInit(void)
     // SysTick
     SysTick_Config(SystemCoreClock / 1000);
 }
+
+void checkForBootLoaderRequest(void)
+{
+}
diff --git a/src/main/drivers/system_stm32f4xx.c b/src/main/drivers/system_stm32f4xx.c
index f0042026f..697b2b743 100644
--- a/src/main/drivers/system_stm32f4xx.c
+++ b/src/main/drivers/system_stm32f4xx.c
@@ -169,6 +169,8 @@ bool isMPUSoftReset(void)
 
 void systemInit(void)
 {
+	checkForBootLoaderRequest();
+
     SetSysClock();
 
     // Configure NVIC preempt/priority groups
@@ -194,3 +196,16 @@ void systemInit(void)
     SysTick_Config(SystemCoreClock / 1000);
 }
 
+void(*bootJump)(void);
+void checkForBootLoaderRequest(void)
+{
+	__enable_irq();
+	if (*((uint32_t *)0x2001FFFC) == 0xDEADBEEF) {
+		*((uint32_t *)0x2001FFFC) = 0x0; 
+		__set_MSP(0x20001000);
+		                                               
+		bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004)); 
+		bootJump();
+		while (1);
+	}
+}
\ No newline at end of file
diff --git a/src/main/io/serial_4way.c b/src/main/io/serial_4way.c
index 49c580541..bcea2f8a1 100644
--- a/src/main/io/serial_4way.c
+++ b/src/main/io/serial_4way.c
@@ -120,12 +120,12 @@ void setEscLo(uint8_t selEsc)
 
 void setEscInput(uint8_t selEsc)
 {
-    IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU_25);
+    IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU);
 }
 
 void setEscOutput(uint8_t selEsc)
 {
-    IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP_25);
+    IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP);
 }
 
 // Initialize 4way ESC interface
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index a51f828ed..e160869df 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -112,6 +112,7 @@ static void cliRxFail(char *cmdline);
 static void cliAdjustmentRange(char *cmdline);
 static void cliMotorMix(char *cmdline);
 static void cliDefaults(char *cmdline);
+void cliDfu(char *cmdLine); 
 static void cliDump(char *cmdLine);
 void cliDumpProfile(uint8_t profileIndex);
 void cliDumpRateProfile(uint8_t rateProfileIndex) ;
@@ -122,6 +123,7 @@ static void cliPlaySound(char *cmdline);
 static void cliProfile(char *cmdline);
 static void cliRateProfile(char *cmdline);
 static void cliReboot(void);
+static void cliRebootEx(bool bootLoader);
 static void cliSave(char *cmdline);
 static void cliSerial(char *cmdline);
 #ifndef SKIP_SERIAL_PASSTHROUGH
@@ -263,8 +265,8 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
 #endif
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
-    CLI_COMMAND_DEF("dump", "dump configuration",
-        "[master|profile]", cliDump),
+    CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
+    CLI_COMMAND_DEF("dump", "dump configuration", "[master|profile]", cliDump),
     CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
     CLI_COMMAND_DEF("feature", "configure features",
         "list\r\n"
@@ -2564,10 +2566,19 @@ static void cliRateProfile(char *cmdline) {
 
 static void cliReboot(void)
 {
-    cliPrint("\r\nRebooting");
+	cliRebootEx(false);
+}
+
+static void cliRebootEx(bool bootLoader)
+{
+	cliPrint("\r\nRebooting");
     bufWriterFlush(cliWriter);
     waitForSerialPortToFinishTransmitting(cliPort);
     stopMotors();
+    if (bootLoader) {
+	    systemResetToBootloader();
+	    return;
+    }
     systemReset();
 }
 
@@ -3107,6 +3118,13 @@ static void cliResource(char *cmdline)
     }
 }
 
+void cliDfu(char *cmdLine)
+{
+	UNUSED(cmdLine);
+	cliPrint("\r\nRestarting in DFU mode");
+	cliRebootEx(true);
+}
+
 void cliInit(serialConfig_t *serialConfig)
 {
     UNUSED(serialConfig);

From f499041c8e16476459a911902c8c046e6c17f355 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sun, 3 Jul 2016 08:00:21 +1000
Subject: [PATCH 48/54] STM32F4: execute extra enable irq on startup only if
 rebooting into DFU

---
 src/main/drivers/system_stm32f4xx.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/drivers/system_stm32f4xx.c b/src/main/drivers/system_stm32f4xx.c
index 697b2b743..53f3767a5 100644
--- a/src/main/drivers/system_stm32f4xx.c
+++ b/src/main/drivers/system_stm32f4xx.c
@@ -199,9 +199,11 @@ void systemInit(void)
 void(*bootJump)(void);
 void checkForBootLoaderRequest(void)
 {
-	__enable_irq();
 	if (*((uint32_t *)0x2001FFFC) == 0xDEADBEEF) {
+
 		*((uint32_t *)0x2001FFFC) = 0x0; 
+
+		__enable_irq();
 		__set_MSP(0x20001000);
 		                                               
 		bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004)); 

From 74d20a276f7156538bbecba65375447a1ed4bf78 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 29 Jun 2016 15:02:29 +0100
Subject: [PATCH 49/54] Made filter naming, parameters and state consistent

---
 src/main/common/filter.c        | 91 +++++++++++++++++----------------
 src/main/common/filter.h        | 26 ++++++----
 src/main/flight/imu.c           |  1 -
 src/main/flight/mixer.c         |  6 +--
 src/main/flight/pid.c           | 12 ++---
 src/main/sensors/acceleration.c | 19 +++----
 src/main/sensors/battery.c      | 15 +++---
 src/main/sensors/gyro.c         |  6 +--
 8 files changed, 93 insertions(+), 83 deletions(-)

diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 21fd2948f..d059fe882 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -17,76 +17,81 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 #include <math.h>
 
-#include "common/axis.h"
 #include "common/filter.h"
 #include "common/maths.h"
 
-#define M_LN2_FLOAT	0.69314718055994530942f
-#define M_PI_FLOAT	3.14159265358979323846f
+#define M_LN2_FLOAT 0.69314718055994530942f
+#define M_PI_FLOAT  3.14159265358979323846f
 
 #define BIQUAD_BANDWIDTH 1.9f     /* bandwidth in octaves */
 #define BIQUAD_Q 1.0f / sqrtf(2.0f)     /* quality factor - butterworth*/
 
-// PT1 Low Pass filter (when no dT specified it will be calculated from the cycleTime)
-float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dT) {
+// PT1 Low Pass filter
 
-	// Pre calculate and store RC
-	if (!filter->RC) {
-		filter->RC = 1.0f / ( 2.0f * M_PI_FLOAT * f_cut );
-	}
+void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT)
+{
+    filter->RC = 1.0f / ( 2.0f * M_PI_FLOAT * f_cut );
+    filter->dT = dT;
+}
 
-    filter->state = filter->state + dT / (filter->RC + dT) * (input - filter->state);
+float pt1FilterApply(pt1Filter_t *filter, float input)
+{
+    filter->state = filter->state + filter->dT / (filter->RC + filter->dT) * (input - filter->state);
+    return filter->state;
+}
+
+float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT)
+{
+    // Pre calculate and store RC
+    if (!filter->RC) {
+        filter->RC = 1.0f / ( 2.0f * M_PI_FLOAT * f_cut );
+        filter->dT = dT;
+    }
+
+    filter->state = filter->state + filter->dT / (filter->RC + filter->dT) * (input - filter->state);
 
     return filter->state;
 }
 
 /* sets up a biquad Filter */
-void BiQuadNewLpf(float filterCutFreq, biquad_t *newState, uint32_t refreshRate)
+void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate)
 {
-    float sampleRate;
+    const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
 
-    sampleRate = 1 / ((float)refreshRate * 0.000001f);
-
-    float omega, sn, cs, alpha;
-    float a0, a1, a2, b0, b1, b2;
-
-    /* setup variables */
-    omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
-    sn = sinf(omega);
-    cs = cosf(omega);
+    // setup variables
+    const float omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
+    const float sn = sinf(omega);
+    const float cs = cosf(omega);
     //this is wrong, should be hyperbolic sine
     //alpha = sn * sinf(M_LN2_FLOAT /2 * BIQUAD_BANDWIDTH * omega /sn);
-    alpha = sn / (2 * BIQUAD_Q);
+    const float alpha = sn / (2 * BIQUAD_Q);
 
-    b0 = (1 - cs) / 2;
-    b1 = 1 - cs;
-    b2 = (1 - cs) / 2;
-    a0 = 1 + alpha;
-    a1 = -2 * cs;
-    a2 = 1 - alpha;
+    const float b0 = (1 - cs) / 2;
+    const float b1 = 1 - cs;
+    const float b2 = (1 - cs) / 2;
+    const float a0 = 1 + alpha;
+    const float a1 = -2 * cs;
+    const float a2 = 1 - alpha;
 
-    /* precompute the coefficients */
-    newState->b0 = b0 / a0;
-    newState->b1 = b1 / a0;
-    newState->b2 = b2 / a0;
-    newState->a1 = a1 / a0;
-    newState->a2 = a2 / a0;
+    // precompute the coefficients
+    filter->b0 = b0 / a0;
+    filter->b1 = b1 / a0;
+    filter->b2 = b2 / a0;
+    filter->a1 = a1 / a0;
+    filter->a2 = a2 / a0;
 
-    /* zero initial samples */
-    newState->d1 = newState->d2 = 1;
+    // zero initial samples
+    filter->d1 = filter->d2 = 0;
 }
 
 /* Computes a biquad_t filter on a sample */
-float applyBiQuadFilter(float sample, biquad_t *state) //direct form 2 transposed
+float biquadFilterApply(biquadFilter_t *filter, float input)
 {
-    float result;
-
-    result = state->b0 * sample + state->d1;
-    state->d1 = state->b1 * sample - state->a1 * result + state->d2;
-    state->d2 = state->b2 * sample - state->a2 * result;
+    const float result = filter->b0 * input + filter->d1;
+    filter->d1 = filter->b1 * input - filter->a1 * result + filter->d2;
+    filter->d2 = filter->b2 * input - filter->a2 * result;
     return result;
 }
 
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index 809063f4b..66fcb53bb 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -17,20 +17,26 @@
 
 #define DELTA_MAX_SAMPLES 12
 
-typedef struct filterStatePt1_s {
-	float state;
-	float RC;
-	float constdT;
-} filterStatePt1_t;
+typedef struct pt1Filter_s {
+    float state;
+    float RC;
+    float dT;
+} pt1Filter_t;
 
 /* this holds the data required to update samples thru a filter */
-typedef struct biquad_s {
+typedef struct biquadFilter_s {
     float b0, b1, b2, a1, a2;
     float d1, d2;
-} biquad_t;
+} biquadFilter_t;
+
+
+void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate);
+float biquadFilterApply(biquadFilter_t *filter, float input);
+
+void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT);
+float pt1FilterApply(pt1Filter_t *filter, float input);
+float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT);
 
-float applyBiQuadFilter(float sample, biquad_t *state);
-float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dt);
 int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageState[DELTA_MAX_SAMPLES]);
 float filterApplyAveragef(float input, uint8_t averageCount, float averageState[DELTA_MAX_SAMPLES]);
-void BiQuadNewLpf(float filterCutFreq, biquad_t *newState, uint32_t refreshRate);
+
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 2e200cff1..d885d30ea 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -28,7 +28,6 @@
 #include "debug.h"
 
 #include "common/axis.h"
-#include "common/filter.h"
 
 #include "drivers/system.h"
 #include "drivers/sensor.h"
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index adc0145ba..b5da4a017 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -946,7 +946,7 @@ void filterServos(void)
 #ifdef USE_SERVOS
     static int16_t servoIdx;
     static bool servoFilterIsSet;
-    static biquad_t servoFilterState[MAX_SUPPORTED_SERVOS];
+    static biquadFilter_t servoFilter[MAX_SUPPORTED_SERVOS];
 
 #if defined(MIXER_DEBUG)
     uint32_t startTime = micros();
@@ -955,11 +955,11 @@ void filterServos(void)
     if (mixerConfig->servo_lowpass_enable) {
         for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
             if (!servoFilterIsSet) {
-                BiQuadNewLpf(mixerConfig->servo_lowpass_freq, &servoFilterState[servoIdx], targetPidLooptime);
+                biquadFilterInit(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
                 servoFilterIsSet = true;
             }
 
-            servo[servoIdx] = lrintf(applyBiQuadFilter((float) servo[servoIdx], &servoFilterState[servoIdx]));
+            servo[servoIdx] = lrintf(biquadFilterApply(&servoFilter[servoIdx], (float)servo[servoIdx]));
             // Sanity check
             servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
         }
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 91ccbc2d8..b0dee8749 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -112,8 +112,8 @@ float getdT (void)
 
 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 
-static filterStatePt1_t deltaFilterState[3];
-static filterStatePt1_t yawFilterState;
+static pt1Filter_t deltaFilter[3];
+static pt1Filter_t yawFilter;
 
 #ifndef SKIP_PID_LUXFLOAT
 static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
@@ -205,7 +205,7 @@ static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclinat
 
         //-----calculate D-term
         if (axis == YAW) {
-            if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
+            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
 
             axisPID[axis] = lrintf(PTerm + ITerm);
 
@@ -230,7 +230,7 @@ static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclinat
             delta *= (1.0f / getdT());
 
             // Filter delta
-            if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
+            if (pidProfile->dterm_lpf_hz) delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
 
             DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
 
@@ -344,7 +344,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
 
         //-----calculate D-term
         if (axis == YAW) {
-            if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
+            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
 
             axisPID[axis] = PTerm + ITerm;
 
@@ -369,7 +369,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
             delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
 
             // Filter delta
-            if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
+            if (pidProfile->dterm_lpf_hz) delta = pt1FilterApply4(&deltaFilter[axis], (float)delta, pidProfile->dterm_lpf_hz, getdT());
 
             DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
 
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index d79eb2e14..da86d37eb 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -47,7 +47,6 @@ uint32_t accTargetLooptime;
 static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
 
 extern uint16_t InflightcalibratingA;
-extern bool AccInflightCalibrationArmed;
 extern bool AccInflightCalibrationMeasurementDone;
 extern bool AccInflightCalibrationSavetoEEProm;
 extern bool AccInflightCalibrationActive;
@@ -55,7 +54,7 @@ extern bool AccInflightCalibrationActive;
 static flightDynamicsTrims_t *accelerationTrims;
 
 static float accLpfCutHz = 0;
-static biquad_t accFilterState[XYZ_AXIS_COUNT];
+static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
 static bool accFilterInitialised = false;
 
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
@@ -87,9 +86,8 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
 void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
 {
     static int32_t a[3];
-    int axis;
 
-    for (axis = 0; axis < 3; axis++) {
+    for (int axis = 0; axis < 3; axis++) {
 
         // Reset a[axis] at start of calibration
         if (isOnFirstAccelerationCalibrationCycle())
@@ -179,14 +177,13 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
 
 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
 {
-	int16_t accADCRaw[XYZ_AXIS_COUNT];
-	int axis;
+    int16_t accADCRaw[XYZ_AXIS_COUNT];
 
     if (!acc.read(accADCRaw)) {
         return;
     }
 
-    for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         if (debugMode == DEBUG_ACCELEROMETER) debug[axis] = accADCRaw[axis];
         accSmooth[axis] = accADCRaw[axis];
     }
@@ -194,13 +191,17 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
     if (accLpfCutHz) {
         if (!accFilterInitialised) {
             if (accTargetLooptime) {  /* Initialisation needs to happen once sample rate is known */
-                for (axis = 0; axis < 3; axis++) BiQuadNewLpf(accLpfCutHz, &accFilterState[axis], accTargetLooptime);
+                for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+                    biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
+                }
                 accFilterInitialised = true;
             }
         }
 
         if (accFilterInitialised) {
-            for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) accSmooth[axis] = lrintf(applyBiQuadFilter((float) accSmooth[axis], &accFilterState[axis]));
+            for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+                accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)accSmooth[axis]));
+            }
         }
     }
 
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 5bcc265f1..23159d87c 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -63,20 +63,19 @@ uint16_t batteryAdcToVoltage(uint16_t src)
 
 static void updateBatteryVoltage(void)
 {
-    uint16_t vbatSample;
-    static biquad_t vbatFilterState;
-    static bool vbatFilterStateIsSet;
+    static biquadFilter_t vbatFilter;
+    static bool vbatFilterIsInitialised;
 
     // store the battery voltage with some other recent battery voltage readings
-    vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
+    uint16_t vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
 
     if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
 
-    if (!vbatFilterStateIsSet) {
-        BiQuadNewLpf(VBATT_LPF_FREQ, &vbatFilterState, 50000); //50HZ Update
-        vbatFilterStateIsSet = true;
+    if (!vbatFilterIsInitialised) {
+        biquadFilterInit(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
+        vbatFilterIsInitialised = true;
     }
-    vbatSample = applyBiQuadFilter(vbatSample, &vbatFilterState);
+    vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
     vbat = batteryAdcToVoltage(vbatSample);
 
     if (debugMode == DEBUG_BATTERY) debug[1] = vbat;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index c79d29013..4f425dc1d 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -43,7 +43,7 @@ float gyroADCf[XYZ_AXIS_COUNT];
 
 static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
-static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
+static biquadFilter_t gyroFilter[XYZ_AXIS_COUNT];
 static uint8_t gyroSoftLpfHz;
 static uint16_t calibratingG = 0;
 
@@ -57,7 +57,7 @@ void gyroInit(void)
 {
     if (gyroSoftLpfHz && gyro.targetLooptime) {  // Initialisation needs to happen once samplingrate is known
         for (int axis = 0; axis < 3; axis++) {
-            BiQuadNewLpf(gyroSoftLpfHz, &gyroFilterState[axis], gyro.targetLooptime);
+            biquadFilterInit(&gyroFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
         }
     }
 }
@@ -157,7 +157,7 @@ void gyroUpdate(void)
 
     if (gyroSoftLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
+            gyroADCf[axis] = biquadFilterApply(&gyroFilter[axis], (float)gyroADC[axis]);
             gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
     } else {

From 39ec4a128ab3fe67d094b42e0693fb993f22c84b Mon Sep 17 00:00:00 2001
From: kc10kevin <kc10kevin@yahoo.com>
Date: Mon, 4 Jul 2016 02:16:44 -0500
Subject: [PATCH 50/54] FuryF4 Target Changes

---
 src/main/target/FURYF4/target.h | 32 ++++++++++++++++++++++----------
 1 file changed, 22 insertions(+), 10 deletions(-)

diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h
index 397206c9b..2559e2d27 100644
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@@ -17,13 +17,10 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "FYF4" //Call it a revo for now so it connects to RFC for testing.
+#define TARGET_BOARD_IDENTIFIER "FYF4"
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
-#define CONFIG_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
-#define CONFIG_MSP_PORT 2
-#define CONFIG_RX_SERIAL_PORT 1
 
-#define USBD_PRODUCT_STRING "FURYF4"
+#define USBD_PRODUCT_STRING "FuryF4"
 
 #define LED0 PB5
 #define LED1 PB4
@@ -67,8 +64,8 @@
 #define SDCARD_DETECT_INVERTED
 
 #define SDCARD_DETECT_PIN                   PD2
-#define SDCARD_SPI_INSTANCE                 SPI3
-#define SDCARD_SPI_CS_PIN                   PB3
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   PB12
 
 /*
 #define SDCARD_DETECT_PIN                   PD2
@@ -86,11 +83,18 @@
 // Divide to under 25MHz for normal operation:
 #define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
 
-#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
-#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
+
+//#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
+//#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
+//#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+//#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream4
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
 #define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
 #define SDCARD_DMA_CHANNEL                  DMA_Channel_0
 
+
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 #define M25P16_CS_PIN         PB3
@@ -149,10 +153,18 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define SPEKTRUM_BIND
+// USART3 Rx, PB11
+#define BIND_PIN             PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
 #define TARGET_IO_PORTA 0xffff
 #define TARGET_IO_PORTB 0xffff
 #define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTD (BIT(2))
 
 #define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
 

From c7c459d122fd4f55cae47680ddba1dee3dbce2ac Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Tue, 5 Jul 2016 01:13:31 +0200
Subject: [PATCH 51/54] Add GYRO INT to KISS target

---
 src/main/target/KISSFC/target.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index 03c3cf31f..04e319cf3 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -28,9 +28,10 @@
 
 #define USABLE_TIMER_CHANNEL_COUNT 12
 
-#define EXTI2_TS_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+#define USE_EXTI
+#define MPU_INT_EXTI PB2
 #define USE_MPU_DATA_READY_SIGNAL
-
+#define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
 #define USE_GYRO_MPU6050

From 67a48ca4c9790d05a5f71700226ff1922a306df2 Mon Sep 17 00:00:00 2001
From: Michael Jakob <michael.p.jakob@web.de>
Date: Mon, 4 Jul 2016 07:46:49 +0200
Subject: [PATCH 52/54] Move custom configuration for AlienFlight and Colibri
 Race to target directory

---
 src/main/config/config.c               |  36 +--------
 src/main/target/ALIENFLIGHTF3/config.c | 100 +++++++++++++++++++++++++
 src/main/target/ALIENFLIGHTF3/target.h |   2 +-
 src/main/target/ALIENFLIGHTF4/config.c | 100 +++++++++++++++++++++++++
 src/main/target/ALIENFLIGHTF4/target.h |   4 +-
 src/main/target/COLIBRI_RACE/config.c  |  84 +++++++++++++++++++++
 src/main/target/COLIBRI_RACE/target.h  |   1 +
 src/main/target/NAZE/config.c          |  99 ++++++++++++++++++++++++
 src/main/target/NAZE/target.h          |   2 +-
 9 files changed, 389 insertions(+), 39 deletions(-)
 create mode 100644 src/main/target/ALIENFLIGHTF3/config.c
 create mode 100644 src/main/target/ALIENFLIGHTF4/config.c
 create mode 100644 src/main/target/COLIBRI_RACE/config.c
 create mode 100644 src/main/target/NAZE/config.c

diff --git a/src/main/config/config.c b/src/main/config/config.c
index bc8d830a5..003b7c32a 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -89,6 +89,7 @@
 #endif
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
+void targetConfiguration(void);
 
 #if !defined(FLASH_SIZE)
 #error "Flash size not defined for target. (specify in KB)"
@@ -652,41 +653,8 @@ static void resetConf(void)
     }
 #endif
 
-    // alternative defaults settings for COLIBRI RACE targets
-#if defined(COLIBRI_RACE)
-    masterConfig.escAndServoConfig.minthrottle = 1025;
-    masterConfig.escAndServoConfig.maxthrottle = 1980;
-    masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
-    masterConfig.batteryConfig.vbatmincellvoltage = 30;
-#endif
-
 #if defined(TARGET_CONFIG)
-    targetConfiguration(&masterConfig);
-#endif
-
-#if defined(ALIENFLIGHT) 
-    featureClear(FEATURE_ONESHOT125);
-#ifdef ALIENFLIGHTF3
-    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
-#endif
-    masterConfig.rxConfig.spektrum_sat_bind = 5;
-    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
-    masterConfig.motor_pwm_rate = 32000;
-    masterConfig.failsafeConfig.failsafe_delay = 2;
-    masterConfig.failsafeConfig.failsafe_off_delay = 0;
-    currentControlRateProfile->rates[FD_PITCH] = 40;
-    currentControlRateProfile->rates[FD_ROLL] = 40;
-    currentControlRateProfile->rates[FD_YAW] = 40;
-    parseRcChannels("TAER1234", &masterConfig.rxConfig);
-
-    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+    targetConfiguration();
 #endif
 
     // copy first profile into remaining profile
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
new file mode 100644
index 000000000..9defa6223
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -0,0 +1,100 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for AlienFlight targets
+void targetConfiguration(void) {
+    featureClear(FEATURE_ONESHOT125);
+    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
+    masterConfig.rxConfig.spektrum_sat_bind = 5;
+    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
+    masterConfig.motor_pwm_rate = 32000;
+    masterConfig.failsafeConfig.failsafe_delay = 2;
+    masterConfig.failsafeConfig.failsafe_off_delay = 0;
+    currentControlRateProfile->rates[FD_PITCH] = 40;
+    currentControlRateProfile->rates[FD_ROLL] = 40;
+    currentControlRateProfile->rates[FD_YAW] = 40;
+    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+
+    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+}
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index 4cd3d955c..1df1d3c4f 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -18,7 +18,7 @@
 #pragma once
 
 #define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
-#define ALIENFLIGHT
+#define TARGET_CONFIG
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
new file mode 100644
index 000000000..9defa6223
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@@ -0,0 +1,100 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for AlienFlight targets
+void targetConfiguration(void) {
+    featureClear(FEATURE_ONESHOT125);
+    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
+    masterConfig.rxConfig.spektrum_sat_bind = 5;
+    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
+    masterConfig.motor_pwm_rate = 32000;
+    masterConfig.failsafeConfig.failsafe_delay = 2;
+    masterConfig.failsafeConfig.failsafe_off_delay = 0;
+    currentControlRateProfile->rates[FD_PITCH] = 40;
+    currentControlRateProfile->rates[FD_ROLL] = 40;
+    currentControlRateProfile->rates[FD_YAW] = 40;
+    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+
+    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+}
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 98387ee23..54983b3d2 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -17,6 +17,7 @@
 
 #pragma once
 #define TARGET_BOARD_IDENTIFIER "AFF4"
+#define TARGET_CONFIG
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
@@ -153,9 +154,6 @@
 //#define WS2811_DMA_CHANNEL            DMA1_Channel3
 //#define WS2811_IRQ                    DMA1_Channel3_IRQn
 
-// alternative defaults for AlienFlight F4 target
-#define ALIENFLIGHT
-
 #define SPEKTRUM_BIND
 // USART2, PA3
 #define BIND_PIN             PA3
diff --git a/src/main/target/COLIBRI_RACE/config.c b/src/main/target/COLIBRI_RACE/config.c
new file mode 100644
index 000000000..ff958beb5
--- /dev/null
+++ b/src/main/target/COLIBRI_RACE/config.c
@@ -0,0 +1,84 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for COLIBRI RACE targets
+void targetConfiguration(void) {
+    masterConfig.escAndServoConfig.minthrottle = 1025;
+    masterConfig.escAndServoConfig.maxthrottle = 1980;
+    masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
+    masterConfig.batteryConfig.vbatmincellvoltage = 30;
+}
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 2139ebb37..0492926e5 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -20,6 +20,7 @@
 #define TARGET_BOARD_IDENTIFIER "CLBR"
 #define BST_DEVICE_NAME "COLIBRI RACE"
 #define BST_DEVICE_NAME_LENGTH 12
+#define TARGET_CONFIG
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
  
diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c
new file mode 100644
index 000000000..e0592bbf9
--- /dev/null
+++ b/src/main/target/NAZE/config.c
@@ -0,0 +1,99 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for AlienFlight targets
+void targetConfiguration(void) {
+    featureClear(FEATURE_ONESHOT125);
+    masterConfig.rxConfig.spektrum_sat_bind = 5;
+    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
+    masterConfig.motor_pwm_rate = 32000;
+    masterConfig.failsafeConfig.failsafe_delay = 2;
+    masterConfig.failsafeConfig.failsafe_off_delay = 0;
+    currentControlRateProfile->rates[FD_PITCH] = 40;
+    currentControlRateProfile->rates[FD_ROLL] = 40;
+    currentControlRateProfile->rates[FD_YAW] = 40;
+    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+
+    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+}
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index cb2f57539..cc8b93c09 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -172,7 +172,7 @@
 // alternative defaults for AlienFlight F1 target
 #undef TARGET_BOARD_IDENTIFIER
 #define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
-#define ALIENFLIGHT
+#define TARGET_CONFIG
 
 #undef BOARD_HAS_VOLTAGE_DIVIDER
 #undef USE_SERIAL_4WAY_BLHELI_INTERFACE

From 0b48943a3cb376aebfa22098a8452ecd782e0a2b Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Tue, 5 Jul 2016 22:03:18 +1000
Subject: [PATCH 53/54] Fix ADC STM32F3 define

---
 src/main/drivers/adc_stm32f30x.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/adc_stm32f30x.c b/src/main/drivers/adc_stm32f30x.c
index 3fc7427b5..0116a6734 100644
--- a/src/main/drivers/adc_stm32f30x.c
+++ b/src/main/drivers/adc_stm32f30x.c
@@ -117,13 +117,13 @@ void adcInit(drv_adc_config_t *init)
     }
 #endif
 
-#ifdef CURRENT_METER_ADC_GPIO
+#ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
         adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);
     }
 #endif
 
-#ifdef EXTERNAL1_ADC_GPIO
+#ifdef EXTERNAL1_ADC_PIN
     if (init->enableExternal1) {
         adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN);
     }

From b274289f0c8233be35dbf857026cf3a4409937b7 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Tue, 5 Jul 2016 16:48:31 +0200
Subject: [PATCH 54/54] Move PPM pin for KISS FC to PITCH

---
 src/main/target/KISSFC/target.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 07450ad50..cf260d6d9 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
-    PWM7  | (MAP_TO_PPM_INPUT << 8),
+    PWM9  | (MAP_TO_PPM_INPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
@@ -44,7 +44,7 @@ const uint16_t multiPWM[] = {
     PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM7  | (MAP_TO_PWM_INPUT << 8),
+
     PWM8  | (MAP_TO_PWM_INPUT << 8),
     PWM9  | (MAP_TO_PWM_INPUT << 8),
     PWM10 | (MAP_TO_PWM_INPUT << 8),
@@ -71,7 +71,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
     { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
 
-    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1}, // TODO - Cleanup. KISS FC uses the same pin for serial and PPM
     { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
     { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
     { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},