diff --git a/Makefile b/Makefile
index 8c80fd8d2..0fd276063 100644
--- a/Makefile
+++ b/Makefile
@@ -363,8 +363,6 @@ COMMON_SRC = \
             $(TARGET_DIR_SRC) \
             main.c \
             mw.c \
-            scheduler.c \
-            scheduler_tasks.c \
             common/encoding.c \
             common/filter.c \
             common/maths.c \
@@ -414,6 +412,8 @@ COMMON_SRC = \
             rx/sumd.c \
             rx/sumh.c \
             rx/xbus.c \
+            scheduler/scheduler.c \
+            scheduler/scheduler_tasks.c \
             sensors/acceleration.c \
             sensors/battery.c \
             sensors/boardalignment.c \
diff --git a/fake_travis_build.sh b/fake_travis_build.sh
index 339c4008d..7f232ded2 100755
--- a/fake_travis_build.sh
+++ b/fake_travis_build.sh
@@ -13,6 +13,7 @@ targets=("PUBLISHMETA=True" \
     "TARGET=RMDO" \
     "TARGET=SPARKY" \
     "TARGET=MOTOLAB" \
+    "TARGET=PIKOBLX" \
     "TARGET=IRCFUSIONF3" \
     "TARGET=ALIENFLIGHTF1" \
     "TARGET=ALIENFLIGHTF3" \
diff --git a/src/main/drivers/adc_stm32f30x.c b/src/main/drivers/adc_stm32f30x.c
index 68f1177b5..97f6ee525 100644
--- a/src/main/drivers/adc_stm32f30x.c
+++ b/src/main/drivers/adc_stm32f30x.c
@@ -21,7 +21,7 @@
 
 #include "platform.h"
 #include "system.h"
-
+#include "common/utils.h"
 #include "gpio.h"
 
 #include "sensor.h"
@@ -38,6 +38,7 @@
 
 void adcInit(drv_adc_config_t *init)
 {
+    UNUSED(init);
     ADC_InitTypeDef ADC_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
     GPIO_InitTypeDef GPIO_InitStructure;
diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c
index 951bc62ab..a746500b5 100644
--- a/src/main/drivers/barometer_bmp085.c
+++ b/src/main/drivers/barometer_bmp085.c
@@ -52,7 +52,6 @@ void bmp085_extiHandler(extiCallbackRec_t* cb)
 bool bmp085TestEOCConnected(const bmp085Config_t *config); 
 # endif
 
-
 typedef struct {
     int16_t ac1;
     int16_t ac2;
diff --git a/src/main/drivers/io.c b/src/main/drivers/io.c
index 7d1d206b0..57bbecdc4 100644
--- a/src/main/drivers/io.c
+++ b/src/main/drivers/io.c
@@ -11,7 +11,7 @@ struct ioPortDef_s {
 	rccPeriphTag_t rcc;
 };
 
-#if defined(STM32F10X)
+#if defined(STM32F1)
 const struct ioPortDef_s ioPortDefs[] = {
 	{ RCC_APB2(IOPA) },
 	{ RCC_APB2(IOPB) },
@@ -33,7 +33,7 @@ const struct ioPortDef_s ioPortDefs[] = {
 #endif
 },
 };
-#elif defined(STM32F303xC)
+#elif defined(STM32F3)
 const struct ioPortDef_s ioPortDefs[] = {
 	{ RCC_AHB(GPIOA) },
 	{ RCC_AHB(GPIOB) },
@@ -111,11 +111,11 @@ uint32_t IO_EXTI_Line(IO_t io)
 {
 	if (!io)
 		return 0;
-#if defined(STM32F10X)
+#if defined(STM32F1)
 	return 1 << IO_GPIOPinIdx(io);
-#elif defined(STM32F303xC)
+#elif defined(STM32F3)
 	return IO_GPIOPinIdx(io);
-#elif defined(STM32F40_41xxx) || defined(STM32F411xE)
+#elif defined(STM32F4)
 	return 1 << IO_GPIOPinIdx(io);
 #else
 # error "Unknown target type"
@@ -133,7 +133,7 @@ void IOWrite(IO_t io, bool hi)
 {
 	if (!io)
 		return;
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#ifdef STM32F4
 	if (hi) {
 		IO_GPIO(io)->BSRRL = IO_Pin(io);
 	}
@@ -149,7 +149,7 @@ void IOHi(IO_t io)
 {
 	if (!io)
 		return;
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#ifdef STM32F4
 	IO_GPIO(io)->BSRRL = IO_Pin(io);
 #else
 	IO_GPIO(io)->BSRR = IO_Pin(io);
@@ -160,7 +160,7 @@ void IOLo(IO_t io)
 {
 	if (!io)
 		return;
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#ifdef STM32F4
 	IO_GPIO(io)->BSRRH = IO_Pin(io);
 #else
 	IO_GPIO(io)->BRR = IO_Pin(io);
@@ -175,7 +175,7 @@ void IOToggle(IO_t io)
 	// Read pin state from ODR but write to BSRR because it only changes the pins
 	// high in the mask value rather than all pins. XORing ODR directly risks
 	// setting other pins incorrectly because it change all pins' state.
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#ifdef STM32F4
 	if (IO_GPIO(io)->ODR & mask) {
 		IO_GPIO(io)->BSRRH = mask;
 	} else {
@@ -216,7 +216,7 @@ resourceType_t IOGetResources(IO_t io)
 	return ioRec->resourcesUsed;
 }
 
-#if defined(STM32F10X)
+#if defined(STM32F1)
 
 void IOConfigGPIO(IO_t io, ioConfig_t cfg)
 {
@@ -233,7 +233,7 @@ void IOConfigGPIO(IO_t io, ioConfig_t cfg)
 	GPIO_Init(IO_GPIO(io), &init);
 }
 
-#elif defined(STM32F303xC) || defined(STM32F40_41xxx) || defined(STM32F411xE)
+#elif defined(STM32F3) || defined(STM32F4)
 
 void IOConfigGPIO(IO_t io, ioConfig_t cfg)
 {
diff --git a/src/main/drivers/io.h b/src/main/drivers/io.h
index c8e0561aa..debc78d95 100644
--- a/src/main/drivers/io.h
+++ b/src/main/drivers/io.h
@@ -3,11 +3,12 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include <platform.h>
 #include "resource.h"
 
 // IO pin identification
 // make sure that ioTag_t can't be assigned into IO_t without warning
-typedef uint8_t ioTag_t;          // packet tag to specify IO pin
+typedef uint8_t ioTag_t;       // packet tag to specify IO pin
 typedef void* IO_t;            // type specifying IO pin. Currently ioRec_t pointer, but this may change
 
 // NONE initializer for IO_t variable
@@ -33,42 +34,32 @@ typedef void* IO_t;            // type specifying IO pin. Currently ioRec_t poin
 //  helps masking CPU differences
 
 typedef uint8_t ioConfig_t;  // packed IO configuration
-#if defined(STM32F10X)
+#if defined(STM32F1)
 
 // mode is using only bits 6-2
-# define IO_CONFIG(mode, speed) ((mode) | (speed))
+#define IO_CONFIG(mode, speed) ((mode) | (speed))
 
-# define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_2MHz)
-# 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_OUT_PP         IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_2MHz)
+#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)
 
-#elif defined(STM32F303xC)
+#elif defined(STM32F3) || defined(STM32F4)
 
-# define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
+#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_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_OD          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
-# 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)
-
-#elif defined(STM32F40_41xxx) || defined(STM32F411xE)
-
-# 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_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_OD          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
-# 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_OUT_PP         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)  // TODO
+#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)
+#define IOCFG_AF_PP_UP       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_UP)
+#define IOCFG_AF_OD          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
+#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)
 
 #elif defined(UNIT_TEST)
 
@@ -100,7 +91,7 @@ resourceType_t IOGetResources(IO_t io);
 IO_t IOGetByTag(ioTag_t tag);
 
 void IOConfigGPIO(IO_t io, ioConfig_t cfg);
-#if defined(STM32F303xC) || defined(STM32F40_41xxx) || defined(STM32F411xE)
+#if defined(STM32F3) || defined(STM32F4)
 void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af);
 #endif
 
diff --git a/src/main/drivers/io_impl.h b/src/main/drivers/io_impl.h
index 1b5cb15e0..b7bbcec7f 100644
--- a/src/main/drivers/io_impl.h
+++ b/src/main/drivers/io_impl.h
@@ -19,19 +19,20 @@ extern ioRec_t ioRecs[DEFIO_IO_USED_COUNT];
 
 int IO_GPIOPortIdx(IO_t io);
 int IO_GPIOPinIdx(IO_t io);
-#if defined(STM32F1)
-int IO_GPIO_PinSource(IO_t io);
-int IO_GPIO_PortSource(IO_t io);
-#elif defined(STM32F3)
-int IO_GPIO_PinSource(IO_t io);
-int IO_GPIO_PortSource(IO_t io);
-int IO_EXTI_PortSourceGPIO(IO_t io);
-int IO_EXTI_PinSource(IO_t io);
-#elif defined(STM32F4)
+
 int IO_GPIO_PinSource(IO_t io);
 int IO_GPIO_PortSource(IO_t io);
+
+#if defined(STM32F3) || defined(STM32F4)
 int IO_EXTI_PortSourceGPIO(IO_t io);
 int IO_EXTI_PinSource(IO_t io); 
-# endif
+#endif
+
+GPIO_TypeDef* IO_GPIO(IO_t io);
+uint16_t IO_Pin(IO_t io);
+
+#define IO_GPIOBYTAG(tag) IO_GPIO(IOGetByTag(tag))
+#define IO_PINBYTAG(tag) IO_Pin(IOGetByTag(tag))
+
 uint32_t IO_EXTI_Line(IO_t io);
 ioRec_t *IO_Rec(IO_t io);
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 99650a91b..e8c6e6b31 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -23,6 +23,8 @@
 #include "platform.h"
 
 #include "gpio.h"
+#include "io.h"
+#include "io_impl.h"
 #include "timer.h"
 
 #include "pwm_output.h"
@@ -91,6 +93,16 @@ pwmOutputConfiguration_t *pwmGetOutputConfiguration(void)
     return &pwmOutputConfiguration;
 }
 
+bool CheckGPIOPin(ioTag_t tag, GPIO_TypeDef *gpio, uint16_t pin)
+{
+    return IO_GPIOBYTAG(tag) == gpio && IO_PINBYTAG(tag) == pin;
+}
+
+bool CheckGPIOPinSource(ioTag_t tag, GPIO_TypeDef *gpio, uint16_t pin)
+{
+    return IO_GPIOBYTAG(tag) == gpio && IO_GPIO_PinSource(IOGetByTag(tag)) == pin;
+}
+
 pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 {
     int i = 0;
@@ -99,7 +111,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
     int channelIndex = 0;
 
     memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
-
+       
     // this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
     if (init->airplane)
         i = 2; // switch to air hardware config
@@ -132,7 +144,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 
 #if defined(STM32F303xC) && defined(USE_USART3)
         // skip UART3 ports (PB10/PB11)
-        if (init->useUART3 && timerHardwarePtr->gpio == UART3_GPIO && (timerHardwarePtr->pin == UART3_TX_PIN || timerHardwarePtr->pin == UART3_RX_PIN))
+        if (init->useUART3 && (CheckGPIOPin(timerHardwarePtr->pin, UART3_GPIO, UART3_TX_PIN) || CheckGPIOPin(timerHardwarePtr->pin, UART3_GPIO, UART3_RX_PIN)))
             continue;
 #endif
 
@@ -151,7 +163,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             if (timerHardwarePtr->tim == LED_STRIP_TIMER)
                 continue;
 #if defined(STM32F303xC) && defined(WS2811_GPIO) && defined(WS2811_PIN_SOURCE)
-            if (timerHardwarePtr->gpio == WS2811_GPIO && timerHardwarePtr->gpioPinSource == WS2811_PIN_SOURCE)
+            if (CheckGPIOPinSource(timerHardwarePtr->pin, WS2811_GPIO, WS2811_PIN_SOURCE))
                 continue;
 #endif
         }
@@ -159,28 +171,28 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 #endif
 
 #ifdef VBAT_ADC_GPIO
-        if (init->useVbat && timerHardwarePtr->gpio == VBAT_ADC_GPIO && timerHardwarePtr->pin == VBAT_ADC_GPIO_PIN) {
+        if (init->useVbat && CheckGPIOPin(timerHardwarePtr->pin, VBAT_ADC_GPIO, VBAT_ADC_GPIO_PIN)) {
             continue;
         }
 #endif
 
 #ifdef RSSI_ADC_GPIO
-        if (init->useRSSIADC && timerHardwarePtr->gpio == RSSI_ADC_GPIO && timerHardwarePtr->pin == RSSI_ADC_GPIO_PIN) {
+        if (init->useRSSIADC && CheckGPIOPin(timerHardwarePtr->pin, RSSI_ADC_GPIO, RSSI_ADC_GPIO_PIN)) {
             continue;
         }
 #endif
 
 #ifdef CURRENT_METER_ADC_GPIO
-        if (init->useCurrentMeterADC && timerHardwarePtr->gpio == CURRENT_METER_ADC_GPIO && timerHardwarePtr->pin == CURRENT_METER_ADC_GPIO_PIN) {
+        if (init->useCurrentMeterADC && CheckGPIOPin(timerHardwarePtr->pin, CURRENT_METER_ADC_GPIO, CURRENT_METER_ADC_GPIO_PIN)) {
             continue;
         }
 #endif
 
 #ifdef SONAR
-        if (init->sonarGPIOConfig && timerHardwarePtr->gpio == init->sonarGPIOConfig->gpio &&
+        if (init->sonarGPIOConfig && 
             (
-                timerHardwarePtr->pin == init->sonarGPIOConfig->triggerPin ||
-                timerHardwarePtr->pin == init->sonarGPIOConfig->echoPin
+                CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->triggerPin) ||
+                CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->echoPin)
             )
         ) {
             continue;
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 5b047875e..cd703c557 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -22,7 +22,7 @@
 
 #include "platform.h"
 
-#include "gpio.h"
+#include "io.h"
 #include "timer.h"
 
 #include "flight/failsafe.h" // FIXME dependency into the main code from a driver
@@ -83,14 +83,10 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
     }
 }
 
-static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
+static void pwmGPIOConfig(ioTag_t pin, ioConfig_t mode)
 {
-    gpio_config_t cfg;
-
-    cfg.pin = pin;
-    cfg.mode = mode;
-    cfg.speed = Speed_2MHz;
-    gpioInit(gpio, &cfg);
+    IOInit(IOGetByTag(pin), OWNER_PWMOUTPUT_MOTOR, RESOURCE_OUTPUT);
+    IOConfigGPIO(IOGetByTag(pin), mode);
 }
 
 static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value)
@@ -98,7 +94,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
     pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
 
     configTimeBase(timerHardware->tim, period, mhz);
-    pwmGPIOConfig(timerHardware->gpio, timerHardware->pin, Mode_AF_PP);
+    pwmGPIOConfig(timerHardware->pin, IOCFG_AF_PP);
 
     pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->outputInverted);
 
diff --git a/src/main/drivers/pwm_rx.c b/src/main/drivers/pwm_rx.c
index df91273f2..50a24e28e 100644
--- a/src/main/drivers/pwm_rx.c
+++ b/src/main/drivers/pwm_rx.c
@@ -337,14 +337,10 @@ static void pwmEdgeCallback(timerCCHandlerRec_t *cbRec, captureCompare_t capture
     }
 }
 
-static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
+static void pwmGPIOConfig(ioTag_t pin, ioConfig_t mode)
 {
-    gpio_config_t cfg;
-
-    cfg.pin = pin;
-    cfg.mode = mode;
-    cfg.speed = Speed_2MHz;
-    gpioInit(gpio, &cfg);
+	IOInit(IOGetByTag(pin), OWNER_PWMINPUT, RESOURCE_INPUT);
+	IOConfigGPIO(IOGetByTag(pin), mode);
 }
 
 void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
@@ -376,7 +372,7 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
     self->mode = INPUT_MODE_PWM;
     self->timerHardware = timerHardwarePtr;
 
-    pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
+    pwmGPIOConfig(timerHardwarePtr->pin, timerHardwarePtr->ioMode);
     pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
 
     timerConfigure(timerHardwarePtr, (uint16_t)PWM_TIMER_PERIOD, PWM_TIMER_MHZ);
@@ -405,7 +401,7 @@ void ppmInConfig(const timerHardware_t *timerHardwarePtr)
     self->mode = INPUT_MODE_PPM;
     self->timerHardware = timerHardwarePtr;
 
-    pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
+    pwmGPIOConfig(timerHardwarePtr->pin, timerHardwarePtr->ioMode);
     pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
 
     timerConfigure(timerHardwarePtr, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
diff --git a/src/main/drivers/resource.h b/src/main/drivers/resource.h
index 7c10ba7ec..b6cfed465 100644
--- a/src/main/drivers/resource.h
+++ b/src/main/drivers/resource.h
@@ -6,8 +6,6 @@ typedef enum {
     OWNER_PWMINPUT,
     OWNER_PPMINPUT,
     OWNER_PWMOUTPUT_MOTOR,
-    OWNER_PWMOUTPUT_FAST,
-    OWNER_PWMOUTPUT_ONESHOT,
     OWNER_PWMOUTPUT_SERVO,
     OWNER_SOFTSERIAL_RX,
     OWNER_SOFTSERIAL_TX,
@@ -23,7 +21,8 @@ typedef enum {
     OWNER_SYSTEM,
     OWNER_SDCARD,
     OWNER_FLASH,
-    OWNER_USB
+    OWNER_USB,
+    OWNER_BEEPER    
 } resourceOwner_t;
 
 // Currently TIMER should be shared resource (softserial dualtimer and timerqueue needs to allocate timer channel, but pin can be used for other function)
@@ -41,3 +40,4 @@ typedef enum {
     RESOURCE_I2C        = 1 << 7,
     RESOURCE_SPI        = 1 << 8,
 } resourceType_t;
+
diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index 446302b55..6ab1f26ba 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -30,7 +30,7 @@
 
 #include "nvic.h"
 #include "system.h"
-#include "gpio.h"
+#include "io.h"
 #include "timer.h"
 
 #include "serial.h"
@@ -48,6 +48,8 @@
 typedef struct softSerial_s {
     serialPort_t     port;
 
+    IO_t rxIO;
+    IO_t txIO;
     const timerHardware_t *rxTimerHardware;
     volatile uint8_t rxBuffer[SOFTSERIAL_BUFFER_SIZE];
 
@@ -92,30 +94,24 @@ void setTxSignal(softSerial_t *softSerial, uint8_t state)
     }
 
     if (state) {
-        digitalHi(softSerial->txTimerHardware->gpio, softSerial->txTimerHardware->pin);
+        IOHi(softSerial->txIO);
     } else {
-        digitalLo(softSerial->txTimerHardware->gpio, softSerial->txTimerHardware->pin);
+	    IOLo(softSerial->txIO);
     }
 }
 
-static void softSerialGPIOConfig(GPIO_TypeDef *gpio, uint16_t pin, GPIO_Mode mode)
+static void softSerialGPIOConfig(ioTag_t pin, ioConfig_t mode)
 {
-    gpio_config_t cfg;
-
-    cfg.pin = pin;
-    cfg.mode = mode;
-    cfg.speed = Speed_2MHz;
-    gpioInit(gpio, &cfg);
+    IOInit(IOGetByTag(pin), OWNER_SOFTSERIAL_RXTX, RESOURCE_USART);
+    IOConfigGPIO(IOGetByTag(pin), mode);
 }
 
-void serialInputPortConfig(const timerHardware_t *timerHardwarePtr)
+void serialInputPortConfig(ioTag_t pin)
 {
-#ifdef STM32F10X
-    softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPU);
+#ifdef STM32F1
+    softSerialGPIOConfig(pin, IOCFG_IPU);
 #else
-#ifdef STM32F303xC
-    softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_AF_PP_PU);
-#endif
+    softSerialGPIOConfig(pin, IOCFG_AF_PP_UP);
 #endif
 }
 
@@ -168,9 +164,9 @@ static void serialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t
     timerChConfigCallbacks(timerHardwarePtr, &softSerialPorts[reference].edgeCb, NULL);
 }
 
-static void serialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
+static void serialOutputPortConfig(ioTag_t pin)
 {
-    softSerialGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_Out_PP);
+    softSerialGPIOConfig(pin, IOCFG_OUT_PP);
 }
 
 static void resetBuffers(softSerial_t *softSerial)
@@ -222,8 +218,11 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
 
     softSerial->softSerialPortIndex = portIndex;
 
-    serialOutputPortConfig(softSerial->txTimerHardware);
-    serialInputPortConfig(softSerial->rxTimerHardware);
+    softSerial->txIO = IOGetByTag(softSerial->txTimerHardware->pin);
+    serialOutputPortConfig(softSerial->txTimerHardware->pin);
+    
+    softSerial->rxIO = IOGetByTag(softSerial->rxTimerHardware->pin);
+    serialInputPortConfig(softSerial->rxTimerHardware->pin);
 
     setTxSignal(softSerial, ENABLE);
     delay(50);
diff --git a/src/main/drivers/serial_usb_vcp.c b/src/main/drivers/serial_usb_vcp.c
index 095402775..45a370256 100644
--- a/src/main/drivers/serial_usb_vcp.c
+++ b/src/main/drivers/serial_usb_vcp.c
@@ -24,6 +24,7 @@
 
 #include "build_config.h"
 #include "common/utils.h"
+#include "drivers/io.h"
 
 #include "usb_core.h"
 #ifdef STM32F4
@@ -178,11 +179,9 @@ serialPort_t *usbVcpOpen(void)
     vcpPort_t *s;
 
 #ifdef STM32F4
-	USBD_Init(&USB_OTG_dev,
-		USB_OTG_FS_CORE_ID,
-		&USR_desc,
-		&USBD_CDC_cb,
-		&USR_cb);
+    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);
 #else
 	Set_System();
 	Set_USBClock();
diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c
index 09294c260..1e71845d2 100644
--- a/src/main/drivers/sound_beeper.c
+++ b/src/main/drivers/sound_beeper.c
@@ -24,7 +24,7 @@
 #include "common/utils.h"
 
 #include "system.h"
-#include "gpio.h"
+#include "io.h"
 
 #include "sound_beeper.h"
 
@@ -61,7 +61,7 @@ void beeperInit(const beeperConfig_t *config)
 	beeperInverted = config->isInverted;
 
 	if (beeperIO) {
-		IOInit(beeperIO, OWNER_SYSTEM, RESOURCE_OUTPUT);
+		IOInit(beeperIO, OWNER_BEEPER, RESOURCE_OUTPUT);
 		IOConfigGPIO(beeperIO, config->isOD ? IOCFG_OUT_OD : IOCFG_OUT_PP);
 	}
 	systemBeep(false);
diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index ed8b0d587..8e7824168 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -353,14 +353,10 @@ void timerChClearCCFlag(const timerHardware_t *timHw)
 }
 
 // configure timer channel GPIO mode
-void timerChConfigGPIO(const timerHardware_t *timHw, GPIO_Mode mode)
+void timerChConfigGPIO(const timerHardware_t* timHw, ioConfig_t mode)
 {
-    gpio_config_t cfg;
-
-    cfg.pin = timHw->pin;
-    cfg.mode = mode;
-    cfg.speed = Speed_2MHz;
-    gpioInit(timHw->gpio, &cfg);
+    IOInit(IOGetByTag(timHw->pin), OWNER_TIMER, RESOURCE_TIMER);
+    IOConfigGPIO(IOGetByTag(timHw->pin), mode);
 }
 
 // calculate input filter constant
@@ -656,20 +652,14 @@ void timerInit(void)
     RCC_AHBPeriphClockCmd(TIMER_AHB_PERIPHERALS, ENABLE);
 #endif
 
-#ifdef STM32F303xC
+#if defined(STM32F3) || defined(STM32F4)
     for (uint8_t timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
         const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
-        GPIO_PinAFConfig(timerHardwarePtr->gpio, (uint16_t)timerHardwarePtr->gpioPinSource, timerHardwarePtr->alternateFunction);
+        IOConfigGPIOAF(IOGetByTag(timerHardwarePtr->pin), timerHardwarePtr->ioMode, timerHardwarePtr->alternateFunction);
     }
 #endif
-
-#if defined(STM32F40_41xxx) || defined (STM32F411xE)
-    for (uint8_t timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
-        const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
-        GPIO_PinAFConfig(timerHardwarePtr->gpio, (uint16_t)timerHardwarePtr->gpioPinSource, timerHardwarePtr->alternateFunction);
-    }
-#endif
-// initialize timer channel structures
+    
+    // initialize timer channel structures
     for(int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
         timerChannelInfo[i].type = TYPE_FREE;
     }
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index d8f0b2051..9ca4c7d95 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "io.h"
+
 #if !defined(USABLE_TIMER_CHANNEL_COUNT)
 #define USABLE_TIMER_CHANNEL_COUNT 14
 #endif
@@ -64,14 +66,12 @@ typedef struct timerOvrHandlerRec_s {
 
 typedef struct {
     TIM_TypeDef *tim;
-    GPIO_TypeDef *gpio;
-    uint16_t pin;
+    ioTag_t pin;
     uint8_t channel;
     uint8_t irq;
     uint8_t outputEnable;
-    GPIO_Mode gpioInputMode;
+    ioConfig_t ioMode;
 #if defined(STM32F3) || defined(STM32F4)
-    uint8_t gpioPinSource;             // TODO - this can be removed and pinSource calculated from pin
     uint8_t alternateFunction;
 #endif
     uint8_t outputInverted;
@@ -106,7 +106,7 @@ volatile timCCR_t* timerChCCR(const timerHardware_t* timHw);
 volatile timCCR_t* timerChCCRLo(const timerHardware_t* timHw);
 volatile timCCR_t* timerChCCRHi(const timerHardware_t* timHw);
 void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHigh);
-void timerChConfigGPIO(const timerHardware_t* timHw, GPIO_Mode mode);
+void timerChConfigGPIO(const timerHardware_t* timHw, ioConfig_t mode);
 
 void timerChCCHandlerInit(timerCCHandlerRec_t *self, timerCCHandlerCallback *fn);
 void timerChOvrHandlerInit(timerOvrHandlerRec_t *self, timerOvrHandlerCallback *fn);
diff --git a/src/main/io/display.c b/src/main/io/display.c
index ed394d9c9..a61b64f27 100644
--- a/src/main/io/display.c
+++ b/src/main/io/display.c
@@ -63,9 +63,9 @@
 #include "config/runtime_config.h"
 #include "config/config_profile.h"
 
-#include "display.h"
+#include "io/display.h"
 
-#include "scheduler.h"
+#include "scheduler/scheduler.h"
 
 extern profile_t *currentProfile;
 
diff --git a/src/main/io/serial_4way.c b/src/main/io/serial_4way.c
index d7710cee4..91ed53db4 100644
--- a/src/main/io/serial_4way.c
+++ b/src/main/io/serial_4way.c
@@ -26,6 +26,8 @@
 #ifdef  USE_SERIAL_4WAY_BLHELI_INTERFACE
 #include "drivers/serial.h"
 #include "drivers/gpio.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
@@ -149,8 +151,8 @@ int esc4wayInit(void)
     for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) {
         if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) {
             if(motor[pwmOutputConfiguration->portConfigurations[i].index] > 0) {
-                escHardware[escIdx].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio;
-                escHardware[escIdx].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin;
+                escHardware[escIdx].gpio = IO_GPIO(IOGetByTag(pwmOutputConfiguration->portConfigurations[i].timerHardware->pin));
+                escHardware[escIdx].pin = IO_Pin(IOGetByTag(pwmOutputConfiguration->portConfigurations[i].timerHardware->pin));
                 escHardware[escIdx].pinpos = getPinPos(escHardware[escIdx].pin);
                 escHardware[escIdx].gpio_config_INPUT.pin = escHardware[escIdx].pin;
                 escHardware[escIdx].gpio_config_INPUT.speed = Speed_2MHz; // see pwmOutConfig()
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index bba036104..7e1323092 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -24,7 +24,6 @@
 #include <ctype.h>
 
 #include "platform.h"
-#include "scheduler.h"
 #include "version.h"
 #include "debug.h"
 
@@ -44,6 +43,8 @@
 #include "drivers/serial.h"
 #include "drivers/bus_i2c.h"
 #include "drivers/gpio.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/sdcard.h"
@@ -90,7 +91,8 @@
 
 #include "common/printf.h"
 
-#include "serial_cli.h"
+#include "io/serial_cli.h"
+#include "scheduler/scheduler.h"
 
 // FIXME remove this for targets that don't need a CLI.  Perhaps use a no-op macro when USE_CLI is not enabled
 // signal that we're in cli mode
@@ -140,6 +142,7 @@ static void cliTasks(char *cmdline);
 #endif
 static void cliVersion(char *cmdline);
 static void cliRxRange(char *cmdline);
+static void cliResource(char *cmdline);
 
 #ifdef GPS
 static void cliGpsPassthrough(char *cmdline);
@@ -299,6 +302,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("profile", "change profile",
         "[<index>]", cliProfile),
 	CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
+	CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
     CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
     CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
     CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
@@ -1889,6 +1893,10 @@ static void dumpValues(uint16_t valueSection)
         cliPrintf("set %s = ", valueTable[i].name);
         cliPrintVar(value, 0);
         cliPrint("\r\n");
+        
+#ifdef STM32F4
+        delayMicroseconds(1000);
+#endif
     }
 }
 
@@ -3022,6 +3030,48 @@ void cliProcess(void)
     }
 }
 
+const char * const ownerNames[] = {
+    "FREE",
+    "PWM IN",
+    "PPM IN",
+    "MOTOR",
+    "SERVO",
+    "SOFTSERIAL RX",
+    "SOFTSERIAL TX",
+    "SOFTSERIAL RXTX",        // bidirectional pin for softserial
+    "SOFTSERIAL AUXTIMER",    // timer channel is used for softserial. No IO function on pin
+    "ADC",
+    "SERIAL RX",
+    "SERIAL TX",
+    "SERIAL RXTX",
+    "PINDEBUG",
+    "TIMER",
+    "SONAR",
+    "SYSTEM",
+    "SDCARD",
+    "FLASH",
+    "USB",
+    "BEEPER",
+};
+
+static void cliResource(char *cmdline)
+{
+    UNUSED(cmdline);
+    cliPrintf("IO:\r\n");
+    for (unsigned i = 0; i < DEFIO_IO_USED_COUNT; i++) {
+        const char* owner;
+        char buff[15];
+        if (ioRecs[i].owner < ARRAYLEN(ownerNames)) {
+            owner = ownerNames[ioRecs[i].owner];
+        }
+        else {
+            sprintf(buff, "O=%d", ioRecs[i].owner);
+            owner = buff;
+        }
+        cliPrintf("%c%02d: %19s\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner);
+    }
+}
+
 void cliInit(serialConfig_t *serialConfig)
 {
     UNUSED(serialConfig);
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 1eb219ab1..a015b8063 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -24,7 +24,6 @@
 #include "build_config.h"
 #include "debug.h"
 #include "platform.h"
-#include "scheduler.h"
 
 #include "common/axis.h"
 #include "common/color.h"
@@ -64,6 +63,8 @@
 
 #include "telemetry/telemetry.h"
 
+#include "scheduler/scheduler.h"
+
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
diff --git a/src/main/main.c b/src/main/main.c
index d175872d6..c10c56b50 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -22,8 +22,6 @@
 #include <math.h>
 
 #include "platform.h"
-#include "scheduler.h"
-
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/maths.h"
@@ -47,7 +45,6 @@
 #include "drivers/pwm_output.h"
 #include "drivers/adc.h"
 #include "drivers/bus_i2c.h"
-#include "drivers/bus_bst.h"
 #include "drivers/bus_spi.h"
 #include "drivers/inverter.h"
 #include "drivers/flash_m25p16.h"
@@ -59,6 +56,10 @@
 #include "drivers/io.h"
 #include "drivers/exti.h"
 
+#ifdef USE_BST
+#include "bus_bst.h"
+#endif
+
 #include "rx/rx.h"
 
 #include "io/beeper.h"
@@ -75,6 +76,8 @@
 #include "io/osd.h"
 #include "io/vtx.h"
 
+#include "scheduler/scheduler.h"
+
 #include "sensors/sensors.h"
 #include "sensors/sonar.h"
 #include "sensors/barometer.h"
@@ -351,10 +354,6 @@ void init(void)
         .isInverted = false
 #endif
     };
-#ifdef AFROMINI
-    beeperConfig.isOD = true;
-    beeperConfig.isInverted = true;
-#endif
 #ifdef NAZE
     if (hardwareRevision >= NAZE32_REV5) {
         // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
diff --git a/src/main/mw.c b/src/main/mw.c
index a52258129..abd0175f5 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -21,7 +21,6 @@
 #include <math.h>
 
 #include "platform.h"
-#include "scheduler.h"
 #include "debug.h"
 
 #include "common/maths.h"
@@ -88,6 +87,9 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
+#include "scheduler/scheduler.h"
+#include "scheduler/scheduler_tasks.h"
+
 // June 2013     V2.2-dev
 
 enum {
@@ -841,8 +843,9 @@ void taskUpdateBattery(void)
     }
 }
 
-bool taskUpdateRxCheck(void)
+bool taskUpdateRxCheck(uint32_t currentDeltaTime)
 {
+    UNUSED(currentDeltaTime);
     updateRx(currentTime);
     return shouldProcessRx(currentTime);
 }
diff --git a/src/main/scheduler.c b/src/main/scheduler/scheduler.c
similarity index 99%
rename from src/main/scheduler.c
rename to src/main/scheduler/scheduler.c
index 7e7b98469..7fe3fea8e 100755
--- a/src/main/scheduler.c
+++ b/src/main/scheduler/scheduler.c
@@ -23,10 +23,12 @@
 
 #include "platform.h"
 
-#include "scheduler.h"
 #include "debug.h"
 #include "build_config.h"
 
+#include "scheduler/scheduler.h"
+#include "scheduler/scheduler_tasks.h"
+
 #include "common/maths.h"
 
 #include "drivers/system.h"
diff --git a/src/main/scheduler.h b/src/main/scheduler/scheduler.h
similarity index 100%
rename from src/main/scheduler.h
rename to src/main/scheduler/scheduler.h
diff --git a/src/main/scheduler_tasks.c b/src/main/scheduler/scheduler_tasks.c
similarity index 87%
rename from src/main/scheduler_tasks.c
rename to src/main/scheduler/scheduler_tasks.c
index 393f6d2c0..721ad27eb 100644
--- a/src/main/scheduler_tasks.c
+++ b/src/main/scheduler/scheduler_tasks.c
@@ -20,33 +20,9 @@
 #include <stdint.h>
 
 #include <platform.h>
-#include "scheduler.h"
 
-void taskSystem(void);
-void taskMainPidLoopCheck(void);
-void taskUpdateAccelerometer(void);
-void taskUpdateAttitude(void);
-bool taskUpdateRxCheck(uint32_t currentDeltaTime);
-void taskUpdateRxMain(void);
-void taskHandleSerial(void);
-void taskUpdateBattery(void);
-void taskUpdateBeeper(void);
-void taskProcessGPS(void);
-void taskUpdateCompass(void);
-void taskUpdateBaro(void);
-void taskUpdateSonar(void);
-void taskCalculateAltitude(void);
-void taskUpdateDisplay(void);
-void taskTelemetry(void);
-void taskLedStrip(void);
-void taskTransponder(void);
-#ifdef OSD
-void taskUpdateOsd(void);
-#endif
-#ifdef USE_BST
-void taskBstReadWrite(void);
-void taskBstMasterProcess(void);
-#endif
+#include "scheduler/scheduler.h"
+#include "scheduler/scheduler_tasks.h"
 
 cfTask_t cfTasks[TASK_COUNT] = {
     [TASK_SYSTEM] = {
diff --git a/src/main/scheduler/scheduler_tasks.h b/src/main/scheduler/scheduler_tasks.h
new file mode 100644
index 000000000..8f3e123ad
--- /dev/null
+++ b/src/main/scheduler/scheduler_tasks.h
@@ -0,0 +1,45 @@
+/*
+ * 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
+
+void taskSystem(void);
+void taskMainPidLoopCheck(void);
+void taskUpdateAccelerometer(void);
+void taskUpdateAttitude(void);
+bool taskUpdateRxCheck(uint32_t currentDeltaTime);
+void taskUpdateRxMain(void);
+void taskHandleSerial(void);
+void taskUpdateBattery(void);
+void taskUpdateBeeper(void);
+void taskProcessGPS(void);
+void taskUpdateCompass(void);
+void taskUpdateBaro(void);
+void taskUpdateSonar(void);
+void taskCalculateAltitude(void);
+void taskUpdateDisplay(void);
+void taskTelemetry(void);
+void taskLedStrip(void);
+void taskTransponder(void);
+#ifdef OSD
+void taskUpdateOsd(void);
+#endif
+#ifdef USE_BST
+void taskBstReadWrite(void);
+void taskBstMasterProcess(void);
+#endif
+
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index e4ad51c3a..2a011d8e2 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -20,8 +20,6 @@
 #include <math.h>
 
 #include "platform.h"
-#include "scheduler.h"
-
 #include "common/maths.h"
 
 #include "drivers/barometer.h"
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 637ded62b..e85611294 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -88,47 +88,11 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 #if defined(MPU_INT_EXTI)
     static const extiConfig_t mpuIntExtiConfig = { .io = IO_TAG(MPU_INT_EXTI) };
     return &mpuIntExtiConfig;
-#endif
-    
-#ifdef NAZE
-    // MPU_INT output on rev4 PB13
-    static const extiConfig_t nazeRev4MPUIntExtiConfig = {
-        .io = IO_TAG(PB13)
-    };
-    // MPU_INT output on rev5 hardware PC13
-    static const extiConfig_t nazeRev5MPUIntExtiConfig = {
-        .io = IO_TAG(PC13)
-    };
-
-#ifdef AFROMINI
-    return &nazeRev5MPUIntExtiConfig;
+#elif defined(USE_HARDWARE_REVISION_DETECTION) 
+    return selectMPUIntExtiConfigByHardwareRevision();
 #else
-    if (hardwareRevision < NAZE32_REV5) {
-        return &nazeRev4MPUIntExtiConfig;
-    }
-    else {
-        return &nazeRev5MPUIntExtiConfig;
-    }
-#endif
-#endif
-
-#ifdef ALIENFLIGHTF3
-    // MPU_INT output on V1 PA15
-    static const extiConfig_t alienFlightF3V1MPUIntExtiConfig = {
-        .io = IO_TAG(PA15)
-    };
-    // MPU_INT output on V2 PB13
-    static const extiConfig_t alienFlightF3V2MPUIntExtiConfig = {
-        .io = IO_TAG(PB13)
-    };
-    if (hardwareRevision == AFF3_REV_1) {
-        return &alienFlightF3V1MPUIntExtiConfig;
-    }
-    else {
-        return &alienFlightF3V2MPUIntExtiConfig;
-    }
-#endif
     return NULL;
+#endif    
 }
 
 #ifdef USE_FAKE_GYRO
diff --git a/src/main/target/ALIENFLIGHTF3/hardware_revision.c b/src/main/target/ALIENFLIGHTF3/hardware_revision.c
index 16a9de5b2..0905b449c 100644
--- a/src/main/target/ALIENFLIGHTF3/hardware_revision.c
+++ b/src/main/target/ALIENFLIGHTF3/hardware_revision.c
@@ -24,7 +24,7 @@
 
 #include "drivers/system.h"
 #include "drivers/io.h"
-
+#include "drivers/exti.h"
 #include "hardware_revision.h"
 
 static const char * const hardwareRevisionNames[] = {
@@ -56,3 +56,22 @@ void detectHardwareRevision(void)
 void updateHardwareRevision(void)
 {
 }
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
+{
+    // MPU_INT output on V1 PA15
+    static const extiConfig_t alienFlightF3V1MPUIntExtiConfig = {
+        .io = IO_TAG(PA15)
+    };
+    // MPU_INT output on V2 PB13
+    static const extiConfig_t alienFlightF3V2MPUIntExtiConfig = {
+        .io = IO_TAG(PB13)
+    };
+
+    if (hardwareRevision == AFF3_REV_1) {
+        return &alienFlightF3V1MPUIntExtiConfig;
+    }
+    else {
+        return &alienFlightF3V2MPUIntExtiConfig;
+    }
+}
\ No newline at end of file
diff --git a/src/main/target/ALIENFLIGHTF3/hardware_revision.h b/src/main/target/ALIENFLIGHTF3/hardware_revision.h
index f4c0e9095..7e60ddc55 100644
--- a/src/main/target/ALIENFLIGHTF3/hardware_revision.h
+++ b/src/main/target/ALIENFLIGHTF3/hardware_revision.h
@@ -14,6 +14,9 @@
  * 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
+ 
+#include "drivers/exti.h"
 
 typedef enum awf3HardwareRevision_t {
     UNKNOWN = 0,
@@ -25,3 +28,5 @@ extern uint8_t hardwareRevision;
 
 void updateHardwareRevision(void);
 void detectHardwareRevision(void);
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void);
\ No newline at end of file
diff --git a/src/main/target/ALIENFLIGHTF3/target.c b/src/main/target/ALIENFLIGHTF3/target.c
index 5af01ce9d..7b7e6c163 100644
--- a/src/main/target/ALIENFLIGHTF3/target.c
+++ b/src/main/target/ALIENFLIGHTF3/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -51,33 +52,33 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // 6 x 3 pin headers
     //
 
-    { TIM15, GPIOB, Pin_15, TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_1, 0}, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
-    { TIM15, GPIOB, Pin_14, TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource14, GPIO_AF_1, 0}, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_6, 0}, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, 0}, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  GPIOA, Pin_6,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_2, 0}, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource2,  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, 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
 
     //
     // 6 pin header
     //
 
     // PWM7-10
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2, 0}, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_1, 0}, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM3,  GPIOA, Pin_4,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2, 0}, // PWM9  - PA4  - *TIM3_CH2
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  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, 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
 
     //
     // PPM PORT - Also USART2 RX (AF5)
     //
 
-    { TIM2, GPIOA, Pin_3,  TIM_Channel_4, TIM2_IRQn,                0, Mode_AF_PP_PD, GPIO_PinSource3, GPIO_AF_1, 0} // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
-    //{ TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, Mode_AF_PP_PD, 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, 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
 
     // USART3 RX/TX
     // RX conflicts with PPM port
-    //{ TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM3_IRQn,               0, Mode_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, Mode_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, 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
 };
 
diff --git a/src/main/target/ALIENFLIGHTF3/target.mk b/src/main/target/ALIENFLIGHTF3/target.mk
index fc9d28c28..04ba9c48f 100644
--- a/src/main/target/ALIENFLIGHTF3/target.mk
+++ b/src/main/target/ALIENFLIGHTF3/target.mk
@@ -8,6 +8,5 @@ TARGET_SRC = \
             drivers/accgyro_mpu6500.c \
             drivers/accgyro_spi_mpu6500.c \
             drivers/compass_ak8963.c \
-            hardware_revision.c \
             drivers/sonar_hcsr04.c
 
diff --git a/src/main/target/ALIENFLIGHTF4/target.c b/src/main/target/ALIENFLIGHTF4/target.c
index 2b90d7175..02efa0b5e 100644
--- a/src/main/target/ALIENFLIGHTF4/target.c
+++ b/src/main/target/ALIENFLIGHTF4/target.c
@@ -1,6 +1,7 @@
 
 #include <stdbool.h>
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -72,19 +73,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 0, GPIO_Mode_AF, GPIO_PinSource8, GPIO_AF_TIM1, 0},            // PWM1  - PA8  RC1
-    { TIM1, GPIOB, Pin_0, TIM_Channel_2, TIM1_CC_IRQn, 0, GPIO_Mode_AF, GPIO_PinSource0, GPIO_AF_TIM1, 0},            // PWM2  - PB0  RC2
-    { TIM1, GPIOB, Pin_1, TIM_Channel_3, TIM1_CC_IRQn, 0, GPIO_Mode_AF, GPIO_PinSource1, GPIO_AF_TIM1, 0},            // PWM3  - PB1  RC3
-    { TIM8, GPIOB, Pin_14,TIM_Channel_2, TIM8_CC_IRQn, 0, GPIO_Mode_AF, GPIO_PinSource14, GPIO_AF_TIM8, 0},          // PWM4  - PA14 RC4
-    { TIM8, GPIOB, Pin_15,TIM_Channel_3, TIM8_CC_IRQn, 0, GPIO_Mode_AF, GPIO_PinSource15, GPIO_AF_TIM8, 0},          // PWM5  - PA15 RC5
+    { 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
 
-    { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource8, GPIO_AF_TIM4, 0},               // PWM6  - PB8  OUT1
-    { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource9, GPIO_AF_TIM4, 0},               // PWM7  - PB9  OUT2
-    { TIM5, GPIOA, Pin_0, TIM_Channel_1, TIM5_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource0, GPIO_AF_TIM5, 0},               // PWM8  - PA0  OUT3
-    { TIM5, GPIOA, Pin_1, TIM_Channel_2, TIM5_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource1, GPIO_AF_TIM5, 0},               // PWM9  - PA1  OUT4
-    { TIM3, GPIOC, Pin_6, TIM_Channel_1, TIM3_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource6, GPIO_AF_TIM3, 0},               // PWM10 - PC6  OUT5
-    { TIM3, GPIOC, Pin_7, TIM_Channel_2, TIM3_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource7, GPIO_AF_TIM3, 0},               // PWM11 - PC7  OUT6
-    { TIM3, GPIOC, Pin_8, TIM_Channel_3, TIM3_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource8, GPIO_AF_TIM3, 0},               // PWM13 - PC8  OUT7
-    { TIM3, GPIOC, Pin_9, TIM_Channel_4, TIM3_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource9, GPIO_AF_TIM3, 0},               // PWM13 - PC9  OUT8
+    { 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
 };
 
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index d7f1f4ef1..e7e0aaf82 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -50,12 +51,12 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, GPIOC, Pin_7, TIM_Channel_2, TIM8_CC_IRQn,       0, Mode_IPD,   GPIO_PinSource7, GPIO_AF_TIM8, 0 },             // PPM IN
-    { TIM5, GPIOA, Pin_0, TIM_Channel_1, TIM5_IRQn,          1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_TIM5, 0 },             // S1_OUT
-    { TIM5, GPIOA, Pin_1, TIM_Channel_2, TIM5_IRQn,          1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_TIM5, 0 },             // S2_OUT 
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn,          1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_TIM2, 0 },             // S3_OUT
-    { TIM9, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_TIM9, 0 },             // S4_OUT
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn,          1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_TIM3, 0 },             // S5_OUT
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn,          1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_TIM3, 0 },             // S6_OUT
+    { 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
 };
 
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index 5cb81ea90..da0b3921c 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -146,7 +146,7 @@
 #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(5) | TIM_N(8) | TIM_N(9))
 #define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM5 | RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC)
diff --git a/src/main/target/CC3D/target.c b/src/main/target/CC3D/target.c
index db26673d1..b146e6a72 100644
--- a/src/main/target/CC3D/target.c
+++ b/src/main/target/CC3D/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -127,18 +128,17 @@ const uint16_t airPWM_BP6[] = {
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD, 0}, // S1_IN
-    { TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD, 0}, // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / Sonar trigger
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD, 0}, // S3_IN - SoftSerial RX / Sonar echo / RSSI ADC
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD, 0}, // S4_IN - Current
-    { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD, 0}, // S5_IN - Vbattery
-    { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD, 0}, // S6_IN - PPM IN
-
-    { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, GPIO_Mode_AF_PP, 0},    // S1_OUT
-    { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, GPIO_Mode_AF_PP, 0},    // S2_OUT
-    { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 1, GPIO_Mode_AF_PP, 0},    // S3_OUT
-    { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, GPIO_Mode_AF_PP, 0}, // S4_OUT
-    { TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 1, GPIO_Mode_AF_PP, 0},    // S5_OUT - GPIO_PartialRemap_TIM3 - LED Strip
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 1, GPIO_Mode_AF_PP, 0}     // S6_OUT
+    { 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
 };
 
diff --git a/src/main/target/CHEBUZZF3/target.c b/src/main/target/CHEBUZZF3/target.c
index 9bfabe7fb..3099e24e7 100644
--- a/src/main/target/CHEBUZZF3/target.c
+++ b/src/main/target/CHEBUZZF3/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -73,25 +74,23 @@ const uint16_t airPWM[] = {
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // INPUTS CH1-8
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_6, 0}, // PWM1 - PA8
-    { TIM16, GPIOB, Pin_8,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_1, 0}, // PWM2 - PB8
-    { TIM17, GPIOB, Pin_9,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF_1, 0}, // PWM3 - PB9
-    { TIM8,  GPIOC, Pin_6,  TIM_Channel_1, TIM8_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource6,  GPIO_AF_4, 0}, // PWM4 - PC6
-    { TIM8,  GPIOC, Pin_7,  TIM_Channel_2, TIM8_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource7,  GPIO_AF_4, 0}, // PWM5 - PC7
-    { TIM8,  GPIOC, Pin_8,  TIM_Channel_3, TIM8_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_4, 0}, // PWM6 - PC8
-    { TIM15, GPIOF, Pin_9,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF_3, 0}, // PWM7 - PF9
-    { TIM15, GPIOF, Pin_10, TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, Mode_AF_PP_PD, GPIO_PinSource10, GPIO_AF_3, 0}, // PWM8 - PF10
-
-    // OUTPUTS CH1-10
-    { TIM4,  GPIOD, Pin_12, TIM_Channel_1, TIM4_IRQn,               0, Mode_AF_PP, GPIO_PinSource12, GPIO_AF_2, 0},    // PWM9 - PD12
-    { TIM4,  GPIOD, Pin_13, TIM_Channel_2, TIM4_IRQn,               0, Mode_AF_PP, GPIO_PinSource13, GPIO_AF_2, 0},    // PWM10 - PD13
-    { TIM4,  GPIOD, Pin_14, TIM_Channel_3, TIM4_IRQn,               0, Mode_AF_PP, GPIO_PinSource14, GPIO_AF_2, 0},    // PWM11 - PD14
-    { TIM4,  GPIOD, Pin_15, TIM_Channel_4, TIM4_IRQn,               0, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_2, 0},    // PWM12 - PD15
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_1, 0},    // PWM13 - PA1
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_1, 0},    // PWM14 - PA2
-    { TIM2,  GPIOA, Pin_3,  TIM_Channel_4, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_1, 0},    // PWM15 - PA3
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, 0},    // PWM16 - PB0
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2, 0},    // PWM17 - PB1
-    { TIM3,  GPIOA, Pin_4,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2, 0}     // PWM18 - PA4
+    { 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
 };
 
diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
index 29d60c549..b15505cab 100644
--- a/src/main/target/CHEBUZZF3/target.h
+++ b/src/main/target/CHEBUZZF3/target.h
@@ -126,9 +126,9 @@
 #define TARGET_IO_PORTA 0xffff
 #define TARGET_IO_PORTB 0xffff
 #define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTD (BIT(2)|BIT(10)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
 #define TARGET_IO_PORTE 0xffff
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)|BIT(9)|BIT(10))
 
 
 #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/CJMCU/hardware_revision.c b/src/main/target/CJMCU/hardware_revision.c
index f424ee2af..29071314b 100755
--- a/src/main/target/CJMCU/hardware_revision.c
+++ b/src/main/target/CJMCU/hardware_revision.c
@@ -28,6 +28,7 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/accgyro_spi_mpu6500.h"
+#include "drivers/exti.h"
 
 #include "hardware_revision.h"
 
@@ -51,3 +52,8 @@ void detectHardwareRevision(void)
 void updateHardwareRevision(void)
 {
 }
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
+{
+	return NULL;
+}
\ No newline at end of file
diff --git a/src/main/target/CJMCU/hardware_revision.h b/src/main/target/CJMCU/hardware_revision.h
index 4eee9078f..4b3c13d67 100755
--- a/src/main/target/CJMCU/hardware_revision.h
+++ b/src/main/target/CJMCU/hardware_revision.h
@@ -14,7 +14,10 @@
  * 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
 
+ #include "drivers/exti.h"
+ 
 typedef enum cjmcuHardwareRevision_t {
     UNKNOWN = 0,
     REV_1, // Blue LED3
@@ -27,3 +30,5 @@ void updateHardwareRevision(void);
 void detectHardwareRevision(void);
 
 void spiBusInit(void);
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void);
\ No newline at end of file
diff --git a/src/main/target/CJMCU/target.c b/src/main/target/CJMCU/target.c
index c71aad1e7..b84a10454 100644
--- a/src/main/target/CJMCU/target.c
+++ b/src/main/target/CJMCU/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -37,19 +38,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM1 - RC1
-    { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM2 - RC2
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM3 - RC3
-    { TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM4 - RC4
-    { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM5 - RC5
-    { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM6 - RC6
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM7 - RC7
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM8 - RC8
-    { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_IPD, 0},       // PWM9 - OUT1
-    { TIM1, GPIOA, Pin_11,TIM_Channel_4, TIM1_CC_IRQn, 1, Mode_IPD, 0},       // PWM10 - OUT2
-    { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM11 - OUT3
-    { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM12 - OUT4
-    { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM13 - OUT5
-    { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, Mode_IPD, 0}           // PWM14 - OUT6
+    { 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
 };
 
diff --git a/src/main/target/CJMCU/target.mk b/src/main/target/CJMCU/target.mk
index 5aa48e4f2..69a1ecc9f 100644
--- a/src/main/target/CJMCU/target.mk
+++ b/src/main/target/CJMCU/target.mk
@@ -5,7 +5,6 @@ TARGET_SRC = \
             drivers/accgyro_mpu.c \
             drivers/accgyro_mpu6050.c \
             drivers/compass_hmc5883l.c \
-            hardware_revision.c \
             flight/gtune.c \
             blackbox/blackbox.c \
             blackbox/blackbox_io.c
diff --git a/src/main/drivers/bus_bst.h b/src/main/target/COLIBRI_RACE/bus_bst.h
similarity index 100%
rename from src/main/drivers/bus_bst.h
rename to src/main/target/COLIBRI_RACE/bus_bst.h
diff --git a/src/main/drivers/bus_bst_stm32f30x.c b/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
similarity index 99%
rename from src/main/drivers/bus_bst_stm32f30x.c
rename to src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
index 201985e9e..8ab8f6cf5 100644
--- a/src/main/drivers/bus_bst_stm32f30x.c
+++ b/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
@@ -12,7 +12,7 @@
 
 #include <build_config.h>
 
-#include "nvic.h"
+#include "drivers/nvic.h"
 #include "bus_bst.h"
 
 
diff --git a/src/main/io/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
similarity index 99%
rename from src/main/io/i2c_bst.c
rename to src/main/target/COLIBRI_RACE/i2c_bst.c
index f0891e8e0..25638fb54 100644
--- a/src/main/io/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -69,6 +69,7 @@
 #include "hardware_revision.h"
 #endif
 
+#include "bus_bst.h"
 #include "i2c_bst.h"
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
diff --git a/src/main/io/i2c_bst.h b/src/main/target/COLIBRI_RACE/i2c_bst.h
similarity index 96%
rename from src/main/io/i2c_bst.h
rename to src/main/target/COLIBRI_RACE/i2c_bst.h
index d2678764e..cf9ee4611 100644
--- a/src/main/io/i2c_bst.h
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.h
@@ -17,8 +17,6 @@
 
 #pragma once
 
-#include "drivers/bus_bst.h"
-
 void bstProcessInCommand(void);
 void bstSlaveProcessInCommand(void);
 void taskBstMasterProcess(void);
diff --git a/src/main/target/COLIBRI_RACE/target.c b/src/main/target/COLIBRI_RACE/target.c
index b6d3dfc23..d26176e38 100644
--- a/src/main/target/COLIBRI_RACE/target.c
+++ b/src/main/target/COLIBRI_RACE/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -66,19 +67,16 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            0, Mode_AF_PP_PD,   GPIO_PinSource8,  GPIO_AF_6, 0}, // PWM1 - PA8
-
-    { TIM3,  GPIOC, Pin_6,  TIM_Channel_1, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource6,  GPIO_AF_2, 0}, // PWM2 - PC6
-    { TIM3,  GPIOC, Pin_7,  TIM_Channel_2, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource7,  GPIO_AF_2, 0}, // PWM3 - PC7
-    { TIM3,  GPIOC, Pin_8,  TIM_Channel_3, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource8,  GPIO_AF_2, 0}, // PMW4 - PC8
-    { TIM3,  GPIOC, Pin_9,  TIM_Channel_4, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource9,  GPIO_AF_2, 0}, // PWM5 - PC9
-
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource0,  GPIO_AF_1, 0}, // PWM6 - PA0
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource1,  GPIO_AF_1, 0}, // PWM7 - PA1
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource2,  GPIO_AF_1, 0}, // PWM8 - PA2
-    { TIM2,  GPIOA, Pin_3,  TIM_Channel_4, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource3,  GPIO_AF_1, 0}, // PWM9 - PA3
-
-    { TIM15, GPIOB, Pin_14, TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP_PD,   GPIO_PinSource14, GPIO_AF_1, 0}, // PWM10 - PB14
-    { TIM15, GPIOB, Pin_15, TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP_PD,   GPIO_PinSource15, GPIO_AF_1, 0}, // PWM11 - PB15
+    { 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
 };
 
diff --git a/src/main/target/COLIBRI_RACE/target.mk b/src/main/target/COLIBRI_RACE/target.mk
index 315800073..b59d32d0e 100644
--- a/src/main/target/COLIBRI_RACE/target.mk
+++ b/src/main/target/COLIBRI_RACE/target.mk
@@ -2,8 +2,8 @@ F3_TARGETS  += $(TARGET)
 FEATURES    = VCP 
 
 TARGET_SRC = \
-            io/i2c_bst.c \
-            drivers/bus_bst_stm32f30x.c \
+            i2c_bst.c \
+            bus_bst_stm32f30x.c \
             drivers/accgyro_mpu.c \
             drivers/accgyro_mpu6500.c \
             drivers/accgyro_spi_mpu6000.c \
diff --git a/src/main/target/DOGE/target.c b/src/main/target/DOGE/target.c
index 4743d6e43..aa34221f9 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,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            0, Mode_AF_PP_PD,   GPIO_PinSource8,  GPIO_AF_6, 0}, // PWM1 - PA8
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP_PD,   GPIO_AF_6,  0}, // PWM1 - PA8
 
-    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               1, Mode_AF_PP,      GPIO_PinSource8,  GPIO_AF_2, 0}, // PWM2 - PB8
-    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               1, Mode_AF_PP,      GPIO_PinSource9,  GPIO_AF_2, 0}, // PWM3 - PB9
+    { 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
     
-    { TIM2,  GPIOA, Pin_10, TIM_Channel_4, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource10, GPIO_AF_10, 0}, // PMW4 - PA10
-    { TIM2,  GPIOA, Pin_9,  TIM_Channel_3, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource9,  GPIO_AF_10, 0}, // PWM5 - PA9
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource0,  GPIO_AF_1, 0}, // PWM6 - PA0
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource1,  GPIO_AF_1, 0}, // PWM7 - PA1
+    { 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
 
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               1, Mode_AF_PP_PD,   GPIO_PinSource0,  GPIO_AF_2, 0}, // PWM8 - PB1
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               1, Mode_AF_PP_PD,   GPIO_PinSource1,  GPIO_AF_2, 0}, // PWM9 - PB0
+    { 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
 };
 
diff --git a/src/main/target/EUSTM32F103RC/target.c b/src/main/target/EUSTM32F103RC/target.c
index 99b0b1003..b917526d7 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, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD, 0 },          // PWM1 - RC1
-    { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD, 0 },          // PWM2 - RC2
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_IPD, 0 },          // PWM3 - RC3
-    { TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_IPD, 0 },          // PWM4 - RC4
-    { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, Mode_IPD, 0 },          // PWM5 - RC5
-    { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD, 0 },          // PWM6 - RC6
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD, 0 },          // PWM7 - RC7
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD, 0 },          // PWM8 - RC8
-    { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_IPD, 0 },       // PWM9 - OUT1
-    { TIM1, GPIOA, Pin_11, TIM_Channel_4, TIM1_CC_IRQn, 1, Mode_IPD, 0 },      // PWM10 - OUT2
-    { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD, 0 },          // PWM11 - OUT3
-    { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, Mode_IPD, 0 },          // PWM12 - OUT4
-    { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, Mode_IPD, 0 },          // PWM13 - OUT5
-    { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, Mode_IPD, 0 }           // PWM14 - OUT6
+    { 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
 };
 
diff --git a/src/main/target/FURYF3/target.c b/src/main/target/FURYF3/target.c
index 1a21ff33f..5a011433c 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,  GPIOB, Pin_3,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP,      GPIO_PinSource3,  GPIO_AF_1, 0}, // PPM IN
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP,      GPIO_PinSource0,  GPIO_AF_2, 0}, // SS1 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP,      GPIO_PinSource1,  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,  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
 
-    { TIM4,  GPIOB, Pin_7,  TIM_Channel_2, TIM4_IRQn,               1, Mode_AF_PP,      GPIO_PinSource7,  GPIO_AF_2, 0}, // PWM4 - S1
-    { TIM4,  GPIOB, Pin_6,  TIM_Channel_1, TIM4_IRQn,               1, Mode_AF_PP,      GPIO_PinSource6,  GPIO_AF_2, 0}, // PWM5 - S2
-    { TIM17, GPIOB, Pin_5,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP,      GPIO_PinSource5,  GPIO_AF_10,0}, // PWM6 - S3
-    { TIM16, GPIOB, Pin_4,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP,      GPIO_PinSource4,  GPIO_AF_1, 0}, // PWM7 - S4
+    { 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
+    { 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
  
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP,      GPIO_PinSource8,  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/FURYF4/target.c b/src/main/target/FURYF4/target.c
index b1a0e8221..b6dbf5fe7 100644
--- a/src/main/target/FURYF4/target.c
+++ b/src/main/target/FURYF4/target.c
@@ -42,12 +42,12 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, GPIOC, Pin_9, TIM_Channel_4, TIM8_CC_IRQn,       0, GPIO_Mode_AF, GPIO_PinSource9, GPIO_AF_TIM8, 0},          // PPM_IN
+    { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8, 0},          // PPM_IN
 
-    { TIM9, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource3, GPIO_AF_TIM9, 0},          // S1_OUT
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn,          1, GPIO_Mode_AF, GPIO_PinSource0, GPIO_AF_TIM3, 0},          // S2_OUT
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn,          1, GPIO_Mode_AF, GPIO_PinSource1, GPIO_AF_TIM3, 0},          // S3_OUT
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn,          1, GPIO_Mode_AF, GPIO_PinSource2, GPIO_AF_TIM2, 0},          // S4_OUT
+    { 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
 
 //  { TIM5, GPIOA, Pin_0, TIM_Channel_1, TIM5_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource0, GPIO_AF_TIM5, 0},    // LED Strip
 };
diff --git a/src/main/target/IRCFUSIONF3/target.c b/src/main/target/IRCFUSIONF3/target.c
index 828387c1c..9eaf0c4d9 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,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_1,  0},  // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_1,  0},  // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1,  0},  // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1,  0},  // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2,  0},  // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  GPIOB, Pin_5,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource5,  GPIO_AF_2,  0},  // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2,  0},  // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2,  0},  // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM16, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_1,  0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_1,  0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  GPIOA, Pin_11, TIM_Channel_1, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_10, 0},  // PWM3 - PA11
-    { TIM4,  GPIOA, Pin_12, TIM_Channel_2, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource12, GPIO_AF_10, 0},  // PWM4 - PA12
-    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_2,  0},  // PWM5 - PB8
-    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource9,  GPIO_AF_2,  0},  // PWM6 - PB9
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_9,  0},  // PWM7 - PA2
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_9,  0},  // PWM8 - PA3
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_6,  0},  // GPIO_TIMER / LED_STRIP
+    { 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
 };
 
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 2cac728fc..30d03b9f6 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,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_6, PWM_INVERTED},
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, PWM_INVERTED},
-    { TIM15, GPIOB, Pin_14, TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource14, GPIO_AF_1, PWM_INVERTED},
-    { TIM15, GPIOB, Pin_15, TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_1, PWM_INVERTED},
-    { TIM16, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_1, PWM_INVERTED},
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_1, PWM_INVERTED},
+    { 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},
 
-    { TIM2,  GPIOB, Pin_3,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_1, 0},
-    { TIM2,  GPIOA, Pin_15, TIM_Channel_1, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_1, 0},
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_1, 0},
-    { TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1, 0},
-    { TIM4,  GPIOA, Pin_13, TIM_Channel_2, TIM4_IRQn,               0, Mode_AF_PP, GPIO_PinSource13, GPIO_AF_10,0},
-    { TIM8,  GPIOA, Pin_14, TIM_Channel_3, TIM8_CC_IRQn,            0, Mode_AF_PP, GPIO_PinSource14, GPIO_AF_5, 0},
+    { 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},
 };
 
diff --git a/src/main/target/LUX_RACE/target.c b/src/main/target/LUX_RACE/target.c
index b6d3dfc23..7f80590d9 100644
--- a/src/main/target/LUX_RACE/target.c
+++ b/src/main/target/LUX_RACE/target.c
@@ -66,19 +66,16 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            0, Mode_AF_PP_PD,   GPIO_PinSource8,  GPIO_AF_6, 0}, // PWM1 - PA8
-
-    { TIM3,  GPIOC, Pin_6,  TIM_Channel_1, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource6,  GPIO_AF_2, 0}, // PWM2 - PC6
-    { TIM3,  GPIOC, Pin_7,  TIM_Channel_2, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource7,  GPIO_AF_2, 0}, // PWM3 - PC7
-    { TIM3,  GPIOC, Pin_8,  TIM_Channel_3, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource8,  GPIO_AF_2, 0}, // PMW4 - PC8
-    { TIM3,  GPIOC, Pin_9,  TIM_Channel_4, TIM3_IRQn,               1, Mode_AF_PP,      GPIO_PinSource9,  GPIO_AF_2, 0}, // PWM5 - PC9
-
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource0,  GPIO_AF_1, 0}, // PWM6 - PA0
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource1,  GPIO_AF_1, 0}, // PWM7 - PA1
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource2,  GPIO_AF_1, 0}, // PWM8 - PA2
-    { TIM2,  GPIOA, Pin_3,  TIM_Channel_4, TIM2_IRQn,               1, Mode_AF_PP,      GPIO_PinSource3,  GPIO_AF_1, 0}, // PWM9 - PA3
-
-    { TIM15, GPIOB, Pin_14, TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP_PD,   GPIO_PinSource14, GPIO_AF_1, 0}, // PWM10 - PB14
-    { TIM15, GPIOB, Pin_15, TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP_PD,   GPIO_PinSource15, GPIO_AF_1, 0}, // PWM11 - PB15
+    { 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
 };
 
diff --git a/src/main/target/MOTOLAB/target.c b/src/main/target/MOTOLAB/target.c
index dab944eac..514839ead 100644
--- a/src/main/target/MOTOLAB/target.c
+++ b/src/main/target/MOTOLAB/target.c
@@ -42,15 +42,14 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM3,  GPIOA, Pin_4,  TIM_Channel_2, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2}, // PWM1  - PA4  - *TIM3_CH2
-    { TIM3,  GPIOA, Pin_6,  TIM_Channel_1, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_2}, // PWM2  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2}, // PWM3  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2}, // PWM4  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_1}, // PWM5  - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_1}, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_9}, // PWM7  - PA3  - *TIM15_CH2, TIM2_CH4
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_6}, // PWM8  - PA8  - *TIM1_CH1, TIM4_ETR
-
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource7,  GPIO_AF_1}, // PPM   - PA7  - *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { 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
 };
 
diff --git a/src/main/target/NAZE/AFROMINI.mk b/src/main/target/NAZE/AFROMINI.mk
new file mode 100644
index 000000000..0f11de8fe
--- /dev/null
+++ b/src/main/target/NAZE/AFROMINI.mk
@@ -0,0 +1 @@
+# AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5
diff --git a/src/main/target/NAZE/hardware_revision.c b/src/main/target/NAZE/hardware_revision.c
index dae369844..d9f540eb9 100755
--- a/src/main/target/NAZE/hardware_revision.c
+++ b/src/main/target/NAZE/hardware_revision.c
@@ -26,6 +26,7 @@
 #include "drivers/system.h"
 #include "drivers/bus_spi.h"
 #include "drivers/sensor.h"
+#include "drivers/io.h"
 #include "drivers/exti.h"
 #include "drivers/accgyro.h"
 #include "drivers/accgyro_mpu.h"
@@ -109,3 +110,26 @@ void updateHardwareRevision(void)
         hardwareRevision = NAZE32_SP;
 #endif
 }
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
+{
+    // MPU_INT output on rev4 PB13
+    static const extiConfig_t nazeRev4MPUIntExtiConfig = {
+        .io = IO_TAG(PB13)
+    };
+    // MPU_INT output on rev5 hardware PC13
+    static const extiConfig_t nazeRev5MPUIntExtiConfig = {
+        .io = IO_TAG(PC13)
+    };
+
+#ifdef AFROMINI
+    return &nazeRev5MPUIntExtiConfig;
+#else
+    if (hardwareRevision < NAZE32_REV5) {
+        return &nazeRev4MPUIntExtiConfig;
+    }
+    else {
+        return &nazeRev5MPUIntExtiConfig;
+    }
+#endif
+}
diff --git a/src/main/target/NAZE/hardware_revision.h b/src/main/target/NAZE/hardware_revision.h
index 9f663bb6c..08895620f 100755
--- a/src/main/target/NAZE/hardware_revision.h
+++ b/src/main/target/NAZE/hardware_revision.h
@@ -14,6 +14,9 @@
  * 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
+
+#include "drivers/exti.h"
 
 typedef enum nazeHardwareRevision_t {
     UNKNOWN = 0,
@@ -28,3 +31,5 @@ void updateHardwareRevision(void);
 void detectHardwareRevision(void);
 
 void spiBusInit(void);
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void);
diff --git a/src/main/target/NAZE/target.c b/src/main/target/NAZE/target.c
index be1c6ff53..83a8862aa 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, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM1 - RC1
-    { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM2 - RC2
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM3 - RC3
-    { TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM4 - RC4
-    { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM5 - RC5
-    { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM6 - RC6
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM7 - RC7
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM8 - RC8
-    { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_IPD, 0},       // PWM9 - OUT1
-    { TIM1, GPIOA, Pin_11,TIM_Channel_4, TIM1_CC_IRQn, 1, Mode_IPD, 0},      // PWM10 - OUT2
-    { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM11 - OUT3
-    { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM12 - OUT4
-    { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM13 - OUT5
-    { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, Mode_IPD, 0}           // PWM14 - OUT6
+    { 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
 };
 
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index ffabc5e58..765153f4f 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -26,6 +26,9 @@
 #define LED1    PB4 // PB4 (LED)
 
 #define BEEPER      PA12 // PA12 (Beeper)
+#ifdef AFROMINI
+#define BEEPER_INVERTED
+#endif
 
 #define BARO_XCLR_PIN    PC13
 #define BARO_EOC_PIN     PC14
diff --git a/src/main/target/NAZE/target.mk b/src/main/target/NAZE/target.mk
index 45d87e4b7..07d81cf44 100644
--- a/src/main/target/NAZE/target.mk
+++ b/src/main/target/NAZE/target.mk
@@ -17,5 +17,4 @@ TARGET_SRC = \
             drivers/compass_hmc5883l.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c \
-            hardware_revision.c
+            drivers/sonar_hcsr04.c
diff --git a/src/main/target/NAZE32PRO/target.c b/src/main/target/NAZE32PRO/target.c
index 425ca38c4..5c8baef25 100644
--- a/src/main/target/NAZE32PRO/target.c
+++ b/src/main/target/NAZE32PRO/target.c
@@ -72,20 +72,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_6, 0}, // PA8 - AF6
-    { TIM1,  GPIOA, Pin_9,  TIM_Channel_2, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF_6, 0}, // PA9 - AF6
-    { TIM1,  GPIOA, Pin_10, TIM_Channel_3, TIM1_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource10, GPIO_AF_6, 0}, // PA10 - AF6
-    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource4,  GPIO_AF_2, 0}, // PB4 - AF2
-    { TIM4,  GPIOB, Pin_6,  TIM_Channel_1, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource6,  GPIO_AF_2, 0}, // PB6 - AF2 - not working yet
-    { TIM4,  GPIOB, Pin_7,  TIM_Channel_2, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource7,  GPIO_AF_2, 0}, // PB7 - AF2 - not working yet
-    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_2, 0}, // PB8 - AF2
-    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF_2, 0}, // PB9 - AF2
-
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP,    GPIO_PinSource0,  GPIO_AF_2}, // PA0 - untested
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP,    GPIO_PinSource1,  GPIO_AF_2, 0}, // PA1 - untested
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP,    GPIO_PinSource2,  GPIO_AF_9, 0}, // PA2 - untested
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP,    GPIO_PinSource3,  GPIO_AF_9, 0}, // PA3 - untested
-    { TIM16, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP,    GPIO_PinSource6,  GPIO_AF_1, 0}, // PA6 - untested
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP,    GPIO_PinSource7,  GPIO_AF_1, 0} // PA7 - untested
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_6, 0}, // PA8 - AF6
+    { TIM1,  IO_TAG(PA9),  TIM_Channel_2, TIM1_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_6, 0}, // PA9 - AF6
+    { TIM1,  IO_TAG(PA10), TIM_Channel_3, TIM1_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_6, 0}, // PA10 - AF6
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, 0}, // PB4 - AF2
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, 0}, // PB6 - AF2 - not working yet
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, 0}, // PB7 - AF2 - not working yet
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, 0}, // PB8 - AF2
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, 0}, // PB9 - AF2
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PA0 - untested
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2, 0}, // PA1 - untested
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9, 0}, // PA2 - untested
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9, 0}, // PA3 - untested
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP,    GPIO_AF_1, 0}, // PA6 - untested
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP,    GPIO_AF_1, 0}  // PA7 - untested
 };
 
diff --git a/src/main/target/OLIMEXINO/target.c b/src/main/target/OLIMEXINO/target.c
index defeac77e..72b22c8db 100644
--- a/src/main/target/OLIMEXINO/target.c
+++ b/src/main/target/OLIMEXINO/target.c
@@ -70,20 +70,21 @@ const uint16_t airPWM[] = {
     PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
     0xFFFF
 };
+
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM1 - RC1
-    { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM2 - RC2
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM3 - RC3
-    { TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM4 - RC4
-    { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM5 - RC5
-    { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM6 - RC6
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM7 - RC7
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM8 - RC8
-    { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_IPD, 0},       // PWM9 - OUT1
-    { TIM1, GPIOA, Pin_11,TIM_Channel_4, TIM1_CC_IRQn, 1, Mode_IPD, 0},      // PWM10 - OUT2
-    { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM11 - OUT3
-    { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM12 - OUT4
-    { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM13 - OUT5
-    { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, Mode_IPD, 0}           // PWM14 - OUT6
+    { 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
 };
 
diff --git a/src/main/target/PIKOBLX/target.c b/src/main/target/PIKOBLX/target.c
new file mode 100644
index 000000000..514839ead
--- /dev/null
+++ b/src/main/target/PIKOBLX/target.c
@@ -0,0 +1,55 @@
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+    PWM9  | (MAP_TO_PPM_INPUT << 8), // PPM input
+
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (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),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    // TODO
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    // TODO
+    0xFFFF
+};
+
+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
+};
+
diff --git a/src/main/target/PIKOBLX/target.h b/src/main/target/PIKOBLX/target.h
new file mode 100644
index 000000000..b15f0202e
--- /dev/null
+++ b/src/main/target/PIKOBLX/target.h
@@ -0,0 +1,173 @@
+/*
+ * 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 "PIKO" // Furious FPV Piko BLX
+#define USE_CLI
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+
+#define LED0 PB9
+#define LED1 PB5
+
+#define BEEPER      PA0
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI PA15
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define GYRO
+#define ACC
+
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW180_DEG
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW180_DEG
+
+#define MPU6000_CS_GPIO GPIOB
+#define MPU6000_CS_PIN PB12
+#define MPU6000_SPI_INSTANCE SPI2
+
+#define USE_VCP
+#define USE_USART1
+#define USE_USART2
+#define USE_USART3
+#define SERIAL_PORT_COUNT 4
+
+#define UART1_TX_PIN        GPIO_Pin_6 // PB6
+#define UART1_RX_PIN        GPIO_Pin_7 // PB7
+#define UART1_GPIO          GPIOB
+#define UART1_GPIO_AF       GPIO_AF_7
+#define UART1_TX_PINSOURCE  GPIO_PinSource6
+#define UART1_RX_PINSOURCE  GPIO_PinSource7
+
+#define UART2_TX_PIN        GPIO_Pin_3 // PB3
+#define UART2_RX_PIN        GPIO_Pin_4 // PB4
+#define UART2_GPIO          GPIOB
+#define UART2_GPIO_AF       GPIO_AF_7
+#define UART2_TX_PINSOURCE  GPIO_PinSource3
+#define UART2_RX_PINSOURCE  GPIO_PinSource4
+
+#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
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2
+
+#define SENSORS_SET (SENSOR_ACC)
+
+#define TELEMETRY
+#define BLACKBOX
+#define SERIAL_RX
+#define USE_SERVOS
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+
+#define ADC_INSTANCE                ADC2
+#define ADC_DMA_CHANNEL             DMA2_Channel1
+#define ADC_AHB_PERIPHERAL          RCC_AHBPeriph_DMA2
+
+#define CURRENT_METER_ADC_GPIO      GPIOA
+#define CURRENT_METER_ADC_GPIO_PIN  GPIO_Pin_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_Channel_3
+
+#define VBAT_ADC_GPIO               GPIOA
+#define VBAT_ADC_GPIO_PIN           GPIO_Pin_5
+#define VBAT_ADC_CHANNEL            ADC_Channel_2
+
+#define RSSI_ADC_GPIO               GPIOB
+#define RSSI_ADC_GPIO_PIN           GPIO_Pin_2
+#define RSSI_ADC_CHANNEL            ADC_Channel_12
+
+#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_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
+
+#if 0
+// Alternate LED strip pin
+// FIXME DMA IRQ Transfer Complete is never called because the  TIM17_DMA_RMP needs to be set in SYSCFG_CFGR1
+#define LED_STRIP_TIMER TIM17
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL7
+#define WS2811_GPIO                     GPIOA
+#define WS2811_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
+#define WS2811_GPIO_AF                  GPIO_AF_1
+#define WS2811_PIN                      GPIO_Pin_7 // TIM17_CH1
+#define WS2811_PIN_SOURCE               GPIO_PinSource7
+#define WS2811_TIMER                    TIM17
+#define WS2811_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM17
+#define WS2811_DMA_CHANNEL              DMA1_Channel7
+#define WS2811_IRQ                      DMA1_Channel7_IRQn
+#endif
+
+#define TRANSPONDER
+#define TRANSPONDER_GPIO                     GPIOA
+#define TRANSPONDER_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
+#define TRANSPONDER_GPIO_AF                  GPIO_AF_6
+#define TRANSPONDER_PIN                      GPIO_Pin_8
+#define TRANSPONDER_PIN_SOURCE               GPIO_PinSource8
+#define TRANSPONDER_TIMER                    TIM1
+#define TRANSPONDER_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
+#define TRANSPONDER_DMA_CHANNEL              DMA1_Channel2
+#define TRANSPONDER_IRQ                      DMA1_Channel2_IRQn
+#define TRANSPONDER_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define TRANSPONDER_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define SPEKTRUM_BIND
+// USART3, PB11
+#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))
+// !!TODO - check the following line is correct
+#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(15) | TIM_N(17))
+
+#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM17)
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3)
+#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
diff --git a/src/main/target/PIKOBLX/target.mk b/src/main/target/PIKOBLX/target.mk
new file mode 100644
index 000000000..3662ea997
--- /dev/null
+++ b/src/main/target/PIKOBLX/target.mk
@@ -0,0 +1,13 @@
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c
+
diff --git a/src/main/target/PORT103R/target.c b/src/main/target/PORT103R/target.c
index 36728e8c5..e014e430d 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, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM1 - RC1
-    { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM2 - RC2
-    { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM3 - RC3
-    { TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_IPD, 0},          // PWM4 - RC4
-    { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM5 - RC5
-    { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM6 - RC6
-    { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM7 - RC7
-    { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD, 0},          // PWM8 - RC8
-    { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_IPD, 0},       // PWM9 - OUT1
-    { TIM1, GPIOA, Pin_11,TIM_Channel_4, TIM1_CC_IRQn, 1, Mode_IPD, 0},       // PWM10 - OUT2
-    { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM11 - OUT3
-    { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM12 - OUT4
-    { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, Mode_IPD, 0},          // PWM13 - OUT5
-    { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, Mode_IPD, 0}           // PWM14 - OUT6
+    { 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
 };
 
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index 7e93d4d16..af6b8eb1e 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, GPIOB, Pin_14, TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, GPIO_Mode_AF, GPIO_PinSource14, GPIO_AF_TIM12, 0}, // PPM (5th pin on FlexiIO port)
-    { TIM12, GPIOB, Pin_15, TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, GPIO_Mode_AF, GPIO_PinSource15, GPIO_AF_TIM12, 0}, // S2_IN - GPIO_PartialRemap_TIM3
-    { TIM8,  GPIOC, Pin_6,  TIM_Channel_1, TIM8_CC_IRQn,        0, GPIO_Mode_AF, GPIO_PinSource6,  GPIO_AF_TIM8, 0}, // S3_IN
-    { TIM8,  GPIOC, Pin_7,  TIM_Channel_2, TIM8_CC_IRQn,        0, GPIO_Mode_AF, GPIO_PinSource7,  GPIO_AF_TIM8, 0}, // S4_IN
-    { TIM8,  GPIOC, Pin_8,  TIM_Channel_3, TIM8_CC_IRQn,        0, GPIO_Mode_AF, GPIO_PinSource8,  GPIO_AF_TIM8, 0}, // S5_IN
-    { TIM8,  GPIOC, Pin_9,  TIM_Channel_4, TIM8_CC_IRQn,        0, GPIO_Mode_AF, GPIO_PinSource9,  GPIO_AF_TIM8, 0}, // S6_IN
-
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,           1, GPIO_Mode_AF, GPIO_PinSource0,  GPIO_AF_TIM3, 0}, // S1_OUT
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,           1, GPIO_Mode_AF, GPIO_PinSource1,  GPIO_AF_TIM3, 0}, // S2_OUT
-    { TIM9,  GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  1, GPIO_Mode_AF, GPIO_PinSource3,  GPIO_AF_TIM9, 0}, // S3_OUT
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,           1, GPIO_Mode_AF, GPIO_PinSource2,  GPIO_AF_TIM2, 0}, // S4_OUT
-    { TIM5,  GPIOA, Pin_1,  TIM_Channel_2, TIM5_IRQn,           1, GPIO_Mode_AF, GPIO_PinSource1,  GPIO_AF_TIM5, 0}, // S5_OUT - GPIO_PartialRemap_TIM3
-    { TIM5,  GPIOA, Pin_0,  TIM_Channel_1, TIM5_IRQn,           1, GPIO_Mode_AF, GPIO_PinSource0,  GPIO_AF_TIM5, 0}, // S6_OUT
+    { 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
+ 
+    { 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
 };
 
 
diff --git a/src/main/target/RMDO/target.c b/src/main/target/RMDO/target.c
index fea9723b2..9eaf0c4d9 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,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_1   ,0},  // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_1   ,0},  // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    { TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1   ,0},  // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1   ,0},  // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2   ,0},  // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  GPIOB, Pin_5,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource5,  GPIO_AF_2   ,0},  // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2   ,0},  // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2   ,0},  // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM16, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_1   ,0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_1   ,0},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  GPIOA, Pin_11, TIM_Channel_1, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_10  ,0},  // PWM3 - PA11
-    { TIM4,  GPIOA, Pin_12, TIM_Channel_2, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource12, GPIO_AF_10  ,0},  // PWM4 - PA12
-    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_2   ,0},  // PWM5 - PB8
-    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource9,  GPIO_AF_2   ,0},  // PWM6 - PB9
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_9   ,0},  // PWM7 - PA2
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_9   ,0},  // PWM8 - PA3
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_6   ,0},  // GPIO_TIMER / LED_STRIP
+    { 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
 };
 
diff --git a/src/main/target/SINGULARITY/target.c b/src/main/target/SINGULARITY/target.c
index 137e6bdeb..fe6106ec9 100644
--- a/src/main/target/SINGULARITY/target.c
+++ b/src/main/target/SINGULARITY/target.c
@@ -60,18 +60,15 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  GPIOA, Pin_15, TIM_Channel_1, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_1, 0}, // PPM/SERIAL RX
-
-    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2, 0}, // PWM1
-    { TIM3,  GPIOB, Pin_5,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource5,  GPIO_AF_2, 0}, // PWM2
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, 0}, // PWM3
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2, 0}, // PWM4
-    { TIM16, GPIOB, Pin_8,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_1, 0}, // PWM5
-    { TIM17, GPIOB, Pin_9,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource9,  GPIO_AF_1, 0}, // PWM6
-
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_9, 0}, // SOFTSERIAL1 RX (NC)
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_9, 0}, // SOFTSERIAL1 TX
-
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_6, 0}, // LED_STRIP
+    { 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
 };
 
diff --git a/src/main/target/SPARKY/target.c b/src/main/target/SPARKY/target.c
index 76d27d777..2b27f994f 100644
--- a/src/main/target/SPARKY/target.c
+++ b/src/main/target/SPARKY/target.c
@@ -47,38 +47,16 @@ const uint16_t airPWM[] = {
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    //
-    // 6 x 3 pin headers
-    //
-
-    { TIM15, GPIOB, Pin_15, TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_1, 0}, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
-    { TIM15, GPIOB, Pin_14, TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource14, GPIO_AF_1, 0}, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_6, 0}, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, 0}, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  GPIOA, Pin_6,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_2, 0}, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_1, 0}, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
-
-    //
-    // 6 pin header
-    //
-
-    // PWM7-10
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2, 0}, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_1, 0}, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM3,  GPIOA, Pin_4,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2, 0}, // PWM9  - PA4  - *TIM3_CH2
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_1, 0}, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
-
-    //
-    // PPM PORT - Also USART2 RX (AF5)
-    //
-
-    { TIM2, GPIOA, Pin_3,  TIM_Channel_4, TIM2_IRQn,                0, Mode_AF_PP_PD, GPIO_PinSource3, GPIO_AF_1, 0} // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
-    //{ TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, Mode_AF_PP_PD, GPIO_PinSource3, GPIO_AF_9, 0} // 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, Mode_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, Mode_AF_PP, GPIO_PinSource10,  GPIO_AF_1, 0} // TX    - PB10 - *TIM2_CH3, USART3_TX (AF7) - PWM12
-
+    { 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
+    { 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
+    { 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
 };
 
diff --git a/src/main/target/SPRACINGF3/target.c b/src/main/target/SPRACINGF3/target.c
index 5c68f9a98..829d7ef00 100644
--- a/src/main/target/SPRACINGF3/target.c
+++ b/src/main/target/SPRACINGF3/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -81,25 +82,25 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_1, 0}, // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  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,  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,  GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1, 0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    { TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1, 0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2, 0}, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  GPIOB, Pin_5,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource5,  GPIO_AF_2, 0}, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, 0}, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource1,  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,  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, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_1, 0},  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_1},  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  GPIOA, Pin_11, TIM_Channel_1, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_10, 0}, // PWM3 - PA11
-    { TIM4,  GPIOA, Pin_12, TIM_Channel_2, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource12, GPIO_AF_10, 0}, // PWM4 - PA12
-    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_2, 0},  // PWM5 - PB8
-    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource9,  GPIO_AF_2, 0},  // PWM6 - PB9
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_9, 0},  // PWM7 - PA2
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_9, 0},  // PWM8 - PA3
+    { 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,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  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/SPRACINGF3EVO/target.c b/src/main/target/SPRACINGF3EVO/target.c
index 81cc1ed06..1b601e881 100644
--- a/src/main/target/SPRACINGF3EVO/target.c
+++ b/src/main/target/SPRACINGF3EVO/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -66,22 +67,17 @@ const uint16_t airPWM[] = {
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // PPM / UART2 RX
-    { TIM8,  GPIOA, Pin_15, TIM_Channel_1, TIM8_CC_IRQn,            0, Mode_AF_PP_PD, GPIO_PinSource15, GPIO_AF_2, 0},  // PPM
-
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_1, 0},  // PWM1
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_1, 0},  // PWM2
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_9, 0},  // PWM3
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_9, 0},  // PWM4
-    { TIM3,  GPIOA, Pin_6,  TIM_Channel_1, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_2, 0},  // PWM5
-    { TIM3,  GPIOA, Pin_7,  TIM_Channel_2, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_2, 0},  // PWM6
-    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, 0},  // PWM7
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2, 0},  // PWM8
-
-    // UART3 RX/TX
-    { TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1, 0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
-    { TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1, 0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-
-    // IR / LED Strip Pad
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  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, 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
 };
 
diff --git a/src/main/target/SPRACINGF3MINI/target.c b/src/main/target/SPRACINGF3MINI/target.c
index 5ef0c6abb..daa8bbe8c 100644
--- a/src/main/target/SPRACINGF3MINI/target.c
+++ b/src/main/target/SPRACINGF3MINI/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -67,27 +68,27 @@ const uint16_t airPWM[] = {
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // PPM Pad
 #ifdef SPRACINGF3MINI_MKII_REVA
-    { TIM3,  GPIOB, Pin_5,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource5,  GPIO_AF_2, 0}, // PPM - PB5
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PPM - PB5
     // PB4 / TIM3 CH1 is connected to USBPresent
 #else
-    { TIM3,  GPIOB, Pin_4,  TIM_Channel_1, TIM3_IRQn,               0, Mode_AF_PP, GPIO_PinSource4,  GPIO_AF_2, 0}, // PPM - PB4
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, 0}, // PPM - PB4
     // PB5 / TIM3 CH2 is connected to USBPresent
 #endif
 
-    { TIM16, GPIOA, Pin_6,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, Mode_AF_PP, GPIO_PinSource6,  GPIO_AF_1, 0},  // PWM1 - PA6
-    { TIM17, GPIOA, Pin_7,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7,  GPIO_AF_1, 0},  // PWM2 - PA7
-    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_2, 0},  // PWM3 - PB8
-    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource9,  GPIO_AF_2, 0},  // PWM4 - PB9
-    { TIM15, GPIOA, Pin_2,  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource2,  GPIO_AF_9, 0},  // PWM5 - PA2
-    { TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, Mode_AF_PP, GPIO_PinSource3,  GPIO_AF_9, 0},  // PWM6 - PA3
-    { TIM2,  GPIOA, Pin_0,  TIM_Channel_1, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_1, 0},  // PWM7 - PA0
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_1, 0},  // PWM8 - PA1
+    { 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
 
     // UART3 RX/TX
-    { TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1, 0}, // PWM9  - PB10 - TIM2_CH3 / USART3_TX (AF7)
-    { TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn,               1, Mode_AF_PP, GPIO_PinSource11, 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, 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)
 
     // LED Strip Pad
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP, GPIO_PinSource8,  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/STM32F3DISCOVERY/target.c b/src/main/target/STM32F3DISCOVERY/target.c
index 8d7f6173b..1d2e615ea 100644
--- a/src/main/target/STM32F3DISCOVERY/target.c
+++ b/src/main/target/STM32F3DISCOVERY/target.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 
 #include <platform.h>
+#include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 
 const uint16_t multiPPM[] = {
@@ -72,19 +73,19 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  GPIOA, Pin_8,  TIM_Channel_1, TIM1_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_6, 0}, // PWM1 - PA8
-    { TIM16, GPIOB, Pin_8,  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_1, 0}, // PWM2 - PB8
-    { TIM17, GPIOB, Pin_9,  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource9,  GPIO_AF_1, 0}, // PWM3 - PB9
-    { TIM8,  GPIOC, Pin_6,  TIM_Channel_1, TIM8_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource6,  GPIO_AF_4, 0}, // PWM4 - PC6
-    { TIM8,  GPIOC, Pin_7,  TIM_Channel_2, TIM8_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource7,  GPIO_AF_4, 0}, // PWM5 - PC7
-    { TIM8,  GPIOC, Pin_8,  TIM_Channel_3, TIM8_CC_IRQn,            1, Mode_AF_PP_PD, GPIO_PinSource8,  GPIO_AF_4, 0}, // PWM6 - PC8
-    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource1,  GPIO_AF_2, 0}, // PWM7 - PB1
-    { TIM3,  GPIOA, Pin_4,  TIM_Channel_2, TIM3_IRQn,               0, Mode_AF_PP_PD, GPIO_PinSource4,  GPIO_AF_2, 0}, // PWM8 - PA2
-    { TIM4,  GPIOD, Pin_12, TIM_Channel_1, TIM4_IRQn,               0, Mode_AF_PP,    GPIO_PinSource12, GPIO_AF_2, 0}, // PWM9 - PD12
-    { TIM4,  GPIOD, Pin_13, TIM_Channel_2, TIM4_IRQn,               0, Mode_AF_PP,    GPIO_PinSource13, GPIO_AF_2, 0}, // PWM10 - PD13
-    { TIM4,  GPIOD, Pin_14, TIM_Channel_3, TIM4_IRQn,               0, Mode_AF_PP,    GPIO_PinSource14, GPIO_AF_2, 0}, // PWM11 - PD14
-    { TIM4,  GPIOD, Pin_15, TIM_Channel_4, TIM4_IRQn,               0, Mode_AF_PP,    GPIO_PinSource15, GPIO_AF_2, 0}, // PWM12 - PD15
-    { TIM2,  GPIOA, Pin_1,  TIM_Channel_2, TIM2_IRQn,               0, Mode_AF_PP,    GPIO_PinSource1,  GPIO_AF_1, 0}, // PWM13 - PA1
-    { TIM2,  GPIOA, Pin_2,  TIM_Channel_3, TIM2_IRQn,               0, Mode_AF_PP,    GPIO_PinSource2,  GPIO_AF_1, 0}  // PWM14 - PA2
+    { 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
 };
 
diff --git a/src/test/unit/scheduler_unittest.cc b/src/test/unit/scheduler_unittest.cc
index 95c21755c..d998f2f4e 100644
--- a/src/test/unit/scheduler_unittest.cc
+++ b/src/test/unit/scheduler_unittest.cc
@@ -19,7 +19,7 @@
 
 extern "C" {
     #include "platform.h"
-    #include "scheduler.h"
+    #include "scheduler/scheduler.h"
 }
 
 #include "unittest_macros.h"