diff --git a/src/main/target/EMSRPROTO4/target.c b/src/main/target/EMSRPROTO4/target.c
new file mode 100644
index 000000000..5c094fa3c
--- /dev/null
+++ b/src/main/target/EMSRPROTO4/target.c
@@ -0,0 +1,38 @@
+/* * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see .
+ */
+
+#include
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ DEF_TIM(TMR1, CH1, PA8, TIM_USE_ANY | TIM_USE_LED, 0, 7, 2), // PWM1 - OUT1 LEDSTRIP /MCO1
+
+ DEF_TIM(TMR4, CH1, PB6, TIM_USE_MOTOR, 0, 0, 0), // motor1 DMA1 CH1
+ DEF_TIM(TMR1, CH3, PA10, TIM_USE_MOTOR, 0, 1, 0), // motor2 DMA1 CH2
+ DEF_TIM(TMR2, CH4, PA3, TIM_USE_MOTOR, 0, 2, 1), // motor3 DMA1 CH3
+ DEF_TIM(TMR3, CH4, PB1, TIM_USE_MOTOR, 0, 3, 1), // motor4 DMA1 CH4
+
+
+};
diff --git a/src/main/target/EMSRPROTO4/target.h b/src/main/target/EMSRPROTO4/target.h
new file mode 100644
index 000000000..92dde3698
--- /dev/null
+++ b/src/main/target/EMSRPROTO4/target.h
@@ -0,0 +1,198 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see .
+ */
+
+#pragma once
+// v2.0 neutronrcf435mini M2 pwm output bugs
+#define TARGET_BOARD_IDENTIFIER "EMSR"
+#define USBD_PRODUCT_STRING "EMSR-PROTO-4"
+/**********swd debuger reserved *****************
+ *
+ * pa13 swdio
+ * pa14 swclk
+ * PB4 JREST
+ *
+ * other pin
+ *
+ * BOOT0 button
+ * PA8 MCO1/EXINT
+ * PA12 OTG1 D+ DP
+ * PA11 OTG1 D- DM
+ * PH0 HEXT IN
+ * PH1 HEXT OUT
+ * PB2 BOOT1 -> GND
+ */
+
+//No Buttons
+
+//LEDS
+#define LED0_PIN PC13
+#define LED1_PIN PC14
+#define LED0_INVERTED //PC 13\PC14 驱动电流不够，改为反向驱动LED
+#define LED1_INVERTED
+
+#define USE_BEEPER
+#define BEEPER_PIN PC15
+#define BEEPER_INVERTED //低电平触发
+
+//ESC Protocol
+
+#define ENABLE_DSHOT_DMAR DSHOT_DMAR_AUTO
+#define DSHOT_BITBANG_DEFAULT DSHOT_BITBANG_AUTO
+
+// *************** SPI **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+#define SPI1_NSS_PIN PA4
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+#define SPI2_NSS_PIN PB12
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_EXTI
+#define USE_GYRO_EXTI
+#define GYRO_1_EXTI_PIN PA15
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define GYRO_1_CS_PIN SPI1_NSS_PIN
+#define GYRO_1_SPI_INSTANCE SPI1
+#define GYRO_1_ALIGN CW180_DEG
+
+
+#define USE_GYRO
+// #define USE_GYRO_SPI_MPU6500 //debug only
+// #define USE_ACC_SPI_MPU6500 //debug only
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_BMI270
+#define USE_ACCGYRO_ASM330LHH
+#define USE_ACCGYRO_LSM6DSL
+#define USE_ACCGYRO_LSM6DSO
+#define USE_ACCGYRO_QMI8658
+#define USE_ACCGYRO_SH3001
+
+#define USE_ACC
+#define USE_ACC_SPI_ICM42688P
+
+
+// *************** OSD *****************************
+//USE SPI3 ON AT-START BOARD ,USE SPI2 ON LQFP64
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE SPI2
+#define MAX7456_SPI_CS_PIN SPI2_NSS_PIN
+
+/********************BLACKBOX***********************/
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_W25N01G // 1Gb NAND flash support
+#define USE_FLASH_W25M // Stacked die support
+#define USE_FLASH_W25M512 // 512Kb (256Kb x 2 stacked) NOR flash support
+#define USE_FLASH_W25M02G // 2Gb (1Gb x 2 stacked) NAND flash support
+#define FLASH_SPI_INSTANCE SPI2
+#define FLASH_CS_PIN PB5
+
+
+
+// *************** Baro **************************
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE (I2CDEV_2)
+#define I2C2_SCL PH2 // SCL pad
+#define I2C2_SDA PH3 // SDA pad
+#define USE_I2C_PULLUP
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define BARO_I2C_INSTANCE (I2CDEV_2)
+
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define MAG_I2C_INSTANCE (I2CDEV_2)
+
+
+// *************** UART & Serial ******************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN PB7 //PA10 CHANGE TO PB7
+#define UART1_TX_PIN PA9
+
+#define USE_UART2
+#define UART2_RX_PIN PB0 //PA3 CHANGE TO PB0
+#define UART2_TX_PIN PA2
+
+#define USE_UART3
+#define UART3_RX_PIN PB10
+#define UART3_TX_PIN PB11
+
+#define USE_UART5
+#define UART5_RX_PIN PB8
+#define UART5_TX_PIN PB9
+
+#define USE_UART7
+#define UART7_RX_PIN PB3
+#define UART7_TX_PIN PB4
+
+
+
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT 8 // VCP UART1 UART2 UART3 UART5 UART7 SOFTSERIAL 1/2
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+#define SERIALRX_UART SERIAL_PORT_USART1
+
+
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE ADC1 // Default added
+#define ADC1_DMA_OPT 11 //DMA 2 CH 5
+
+#define VBAT_ADC_PIN PA0
+#define CURRENT_METER_ADC_PIN PA1
+//#define RSSI_ADC_PIN 0
+
+#define USE_ESCSERIAL
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL |FEATURE_LED_STRIP )
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTH BIT(1)|BIT(2)|BIT(3)
+
+#define USABLE_TIMER_CHANNEL_COUNT 28
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(20) )
diff --git a/src/main/target/EMSRPROTO4/target.mk b/src/main/target/EMSRPROTO4/target.mk
new file mode 100644
index 000000000..26fbec943
--- /dev/null
+++ b/src/main/target/EMSRPROTO4/target.mk
@@ -0,0 +1,34 @@
+#AT32F43xxMT7_TARGETS += $(TARGET) #FOR 4032KB
+AT32F43xxGT7_TARGETS += $(TARGET) #FOR 1024KB
+
+CUSTOM_DEFAULTS_EXTENDED = yes
+FEATURES += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+ drivers/accgyro/accgyro_spi_mpu6000.c \
+ drivers/accgyro/accgyro_spi_icm426xx.c\
+ drivers/barometer/barometer_bmp280.c \
+ drivers/barometer/barometer_dps310.c\
+ drivers/compass/compass_hmc5883l.c\
+ drivers/compass/compass_qmc5883l.c\
+ $(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c \
+ drivers/accgyro/accgyro_spi_bmi270.c\
+ drivers/accgyro/accgyro_spi_asm330lhh_init.c \
+ drivers/accgyro/accgyro_spi_asm330lhh.c \
+ drivers/accgyro/accgyro_spi_lsm6dso_init.c \
+ drivers/accgyro/accgyro_spi_lsm6dso.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl_init.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl.c \
+ drivers/accgyro/accgyro_spi_qmi8658_init.c \
+ drivers/accgyro/accgyro_spi_qmi8658.c \
+ drivers/accgyro/accgyro_spi_sh3001_init.c \
+ drivers/accgyro/accgyro_spi_sh3001.c \
+ drivers/max7456.c \
+ drivers/vtx_rtc6705.c \
+ drivers/vtx_rtc6705_soft_spi.c \
+ drivers/rx/expresslrs_driver_atbsp.c \
+ drivers/rx/rx_sx127x.c \
+ drivers/rx/rx_sx1280.c \
+ rx/expresslrs_telemetry.c \
+ rx/expresslrs_common.c \
+ rx/expresslrs.c