Rebased

2016-12-12 06:35:38 +09:00 · 2016-12-12 06:35:38 +09:00 · af3132d422
parent e2e7835cf8 cd9a18dbab
commit af3132d422
94 changed files with 1663 additions and 918 deletions
--- a/.gitignore
+++ b/.gitignore
@ -13,6 +13,7 @@
 obj/
 patches/
 startup_stm32f10x_md_gcc.s
+.idea

 # script-generated files
 docs/Manual.pdf
--- a/9
+++ b/9
@ -123,7 +123,7 @@ endif
 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk

 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
-F7_TARGETS      = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS)
+F7_TARGETS      = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)

 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
@ -136,7 +136,7 @@ endif
 128K_TARGETS  = $(F1_TARGETS)
 256K_TARGETS  = $(F3_TARGETS)
 512K_TARGETS  = $(F411_TARGETS) $(F7X5XE_TARGETS)
-1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS)
+1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 2048K_TARGETS = $(F7X5XI_TARGETS)

 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
@ -376,6 +376,9 @@ ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fs
 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
+else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
+DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
+LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 else
 $(error Unknown MCU for F7 target)
 endif
@ -593,7 +596,7 @@ HIGHEND_SRC = \
            telemetry/smartport.c \
            telemetry/ltm.c \
            telemetry/mavlink.c \
-            telemetry/esc_telemetry.c \
+            sensors/esc_sensor.c \

 SPEED_OPTIMISED_SRC = \
            common/encoding.c \
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@ -59,7 +59,7 @@ typedef enum {
    DEBUG_VELOCITY,
    DEBUG_DTERM_FILTER,
    DEBUG_ANGLERATE,
-    DEBUG_ESC_TELEMETRY,
+    DEBUG_ESC_SENSOR,
    DEBUG_SCHEDULER,
    DEBUG_STACK,
    DEBUG_COUNT
--- a/src/main/config/config_eeprom.c
+++ b/src/main/config/config_eeprom.c
@ -51,6 +51,10 @@
        #define FLASH_PAGE_SIZE                 ((uint32_t)0x40000)
    #endif

+    #if defined(STM32F746xx)
+        #define FLASH_PAGE_SIZE                 ((uint32_t)0x40000)
+    #endif
+
    #if defined(STM32F40_41xxx)
        #define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
    #endif
@ -78,6 +82,8 @@
 #define FLASH_PAGE_COUNT 3  // just to make calculations work
 #elif defined (STM32F745xx)
 #define FLASH_PAGE_COUNT 4 // just to make calculations work
+#elif defined (STM32F746xx)
+#define FLASH_PAGE_COUNT 4 // just to make calculations work
 #else
 #define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
 #endif
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@ -31,6 +31,8 @@
 #include "drivers/sonar_hcsr04.h"
 #include "drivers/sdcard.h"
 #include "drivers/vcd.h"
+#include "drivers/light_led.h"
+#include "drivers/flash.h"

 #include "fc/rc_controls.h"

@ -90,10 +92,12 @@
 #define beeperConfig(x) (&masterConfig.beeperConfig)
 #define sonarConfig(x) (&masterConfig.sonarConfig)
 #define ledStripConfig(x) (&masterConfig.ledStripConfig)
+#define statusLedConfig(x) (&masterConfig.statusLedConfig)
 #define osdProfile(x) (&masterConfig.osdProfile)
 #define vcdProfile(x) (&masterConfig.vcdProfile)
 #define sdcardConfig(x) (&masterConfig.sdcardConfig)
 #define blackboxConfig(x) (&masterConfig.blackboxConfig)
+#define flashConfig(x) (&masterConfig.flashConfig)


 // System-wide
@ -162,6 +166,8 @@ typedef struct master_s {
    serialConfig_t serialConfig;
    telemetryConfig_t telemetryConfig;

+    statusLedConfig_t statusLedConfig;
+
 #ifdef USE_PPM
    ppmConfig_t ppmConfig;
 #endif
@ -226,6 +232,10 @@ typedef struct master_s {
    blackboxConfig_t blackboxConfig;
 #endif

+#ifdef USE_FLASHFS
+    flashConfig_t flashConfig;
+#endif
+
    uint32_t beeper_off_flags;
    uint32_t preferred_beeper_off_flags;

--- a/src/main/drivers/accgyro_adxl345.c
+++ b/src/main/drivers/accgyro_adxl345.c
@ -56,27 +56,8 @@
 #define ADXL345_RANGE_16G   0x03
 #define ADXL345_FIFO_STREAM 0x80

-static void adxl345Init(accDev_t *acc);
-static bool adxl345Read(int16_t *accelData);
-
 static bool useFifo = false;

-bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc)
-{
-    uint8_t sig = 0;
-    bool ack = i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, 0x00, 1, &sig);
-
-    if (!ack || sig != 0xE5)
-        return false;
-
-    // use ADXL345's fifo to filter data or not
-    useFifo = init->useFifo;
-
-    acc->init = adxl345Init;
-    acc->read = adxl345Read;
-    return true;
-}
-
 static void adxl345Init(accDev_t *acc)
 {
    if (useFifo) {
@ -135,3 +116,19 @@ static bool adxl345Read(int16_t *accelData)

    return true;
 }
+
+bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc)
+{
+    uint8_t sig = 0;
+    bool ack = i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, 0x00, 1, &sig);
+
+    if (!ack || sig != 0xE5)
+        return false;
+
+    // use ADXL345's fifo to filter data or not
+    useFifo = init->useFifo;
+
+    acc->init = adxl345Init;
+    acc->read = adxl345Read;
+    return true;
+}
--- a/src/main/drivers/accgyro_bma280.c
+++ b/src/main/drivers/accgyro_bma280.c
@ -32,22 +32,6 @@
 #define BMA280_PMU_BW      0x10
 #define BMA280_PMU_RANGE   0x0F

-static void bma280Init(accDev_t *acc);
-static bool bma280Read(int16_t *accelData);
-
-bool bma280Detect(accDev_t *acc)
-{
-    uint8_t sig = 0;
-    bool ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
-
-    if (!ack || sig != 0xFB)
-        return false;
-
-    acc->init = bma280Init;
-    acc->read = bma280Read;
-    return true;
-}
-
 static void bma280Init(accDev_t *acc)
 {
    i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
@ -71,3 +55,16 @@ static bool bma280Read(int16_t *accelData)

    return true;
 }
+
+bool bma280Detect(accDev_t *acc)
+{
+    uint8_t sig = 0;
+    bool ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
+
+    if (!ack || sig != 0xFB)
+        return false;
+
+    acc->init = bma280Init;
+    acc->read = bma280Read;
+    return true;
+}
--- a/src/main/drivers/accgyro_l3g4200d.c
+++ b/src/main/drivers/accgyro_l3g4200d.c
@ -54,28 +54,6 @@
 #define L3G4200D_DLPF_78HZ       0x80
 #define L3G4200D_DLPF_93HZ       0xC0

-static void l3g4200dInit(gyroDev_t *gyro);
-static bool l3g4200dRead(gyroDev_t *gyro);
-
-bool l3g4200dDetect(gyroDev_t *gyro)
-{
-    uint8_t deviceid;
-
-    delay(25);
-
-    i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_WHO_AM_I, 1, &deviceid);
-    if (deviceid != L3G4200D_ID)
-        return false;
-
-    gyro->init = l3g4200dInit;
-    gyro->read = l3g4200dRead;
-
-    // 14.2857dps/lsb scalefactor
-    gyro->scale = 1.0f / 14.2857f;
-
-    return true;
-}
-
 static void l3g4200dInit(gyroDev_t *gyro)
 {
    bool ack;
@ -123,3 +101,22 @@ static bool l3g4200dRead(gyroDev_t *gyro)

    return true;
 }
+
+bool l3g4200dDetect(gyroDev_t *gyro)
+{
+    uint8_t deviceid;
+
+    delay(25);
+
+    i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_WHO_AM_I, 1, &deviceid);
+    if (deviceid != L3G4200D_ID)
+        return false;
+
+    gyro->init = l3g4200dInit;
+    gyro->read = l3g4200dRead;
+
+    // 14.2857dps/lsb scalefactor
+    gyro->scale = 1.0f / 14.2857f;
+
+    return true;
+}
--- a/src/main/drivers/accgyro_mma845x.c
+++ b/src/main/drivers/accgyro_mma845x.c
@ -81,23 +81,6 @@

 static uint8_t device_id;

-static void mma8452Init(accDev_t *acc);
-static bool mma8452Read(int16_t *accelData);
-
-bool mma8452Detect(accDev_t *acc)
-{
-    uint8_t sig = 0;
-    bool ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
-
-    if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
-        return false;
-
-    acc->init = mma8452Init;
-    acc->read = mma8452Read;
-    device_id = sig;
-    return true;
-}
-
 static inline void mma8451ConfigureInterrupt(void)
 {
 #ifdef NAZE
@ -142,3 +125,17 @@ static bool mma8452Read(int16_t *accelData)

    return true;
 }
+
+bool mma8452Detect(accDev_t *acc)
+{
+    uint8_t sig = 0;
+    bool ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
+
+    if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
+        return false;
+
+    acc->init = mma8452Init;
+    acc->read = mma8452Read;
+    device_id = sig;
+    return true;
+}
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@ -75,7 +75,7 @@ static const extiConfig_t *mpuIntExtiConfig = NULL;

 #define MPU_INQUIRY_MASK   0x7E

-mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
+mpuDetectionResult_t *mpuDetect(const extiConfig_t *configToUse)
 {
    memset(&mpuDetectionResult, 0, sizeof(mpuDetectionResult));
    memset(&mpuConfiguration, 0, sizeof(mpuConfiguration));
@ -334,7 +334,7 @@ void mpuGyroInit(gyroDev_t *gyro)
    mpuIntExtiInit(gyro);
 }

-bool checkMPUDataReady(gyroDev_t* gyro)
+bool mpuCheckDataReady(gyroDev_t* gyro)
 {
    bool ret;
    if (gyro->dataReady) {
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@ -183,10 +183,10 @@ typedef struct mpuDetectionResult_s {

 extern mpuDetectionResult_t mpuDetectionResult;

-void configureMPUDataReadyInterruptHandling(void);
+void mpuConfigureDataReadyInterruptHandling(void);
 struct gyroDev_s;
 void mpuGyroInit(struct gyroDev_s *gyro);
 bool mpuAccRead(int16_t *accData);
 bool mpuGyroRead(struct gyroDev_s *gyro);
-mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse);
-bool checkMPUDataReady(struct gyroDev_s *gyro);
+mpuDetectionResult_t *mpuDetect(const extiConfig_t *configToUse);
+bool mpuCheckDataReady(struct gyroDev_s *gyro);
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@ -46,25 +46,6 @@
 #define MPU3050_USER_RESET      0x01
 #define MPU3050_CLK_SEL_PLL_GX  0x01

-static void mpu3050Init(gyroDev_t *gyro);
-static bool mpu3050ReadTemp(int16_t *tempData);
-
-bool mpu3050Detect(gyroDev_t *gyro)
-{
-    if (mpuDetectionResult.sensor != MPU_3050) {
-        return false;
-    }
-    gyro->init = mpu3050Init;
-    gyro->read = mpuGyroRead;
-    gyro->temperature = mpu3050ReadTemp;
-    gyro->intStatus = checkMPUDataReady;
-
-    // 16.4 dps/lsb scalefactor
-    gyro->scale = 1.0f / 16.4f;
-
-    return true;
-}
-
 static void mpu3050Init(gyroDev_t *gyro)
 {
    bool ack;
@ -81,7 +62,7 @@ static void mpu3050Init(gyroDev_t *gyro)
    mpuConfiguration.write(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
 }

-static bool mpu3050ReadTemp(int16_t *tempData)
+static bool mpu3050ReadTemperature(int16_t *tempData)
 {
    uint8_t buf[2];
    if (!mpuConfiguration.read(MPU3050_TEMP_OUT, 2, buf)) {
@ -92,3 +73,19 @@ static bool mpu3050ReadTemp(int16_t *tempData)

    return true;
 }
+
+bool mpu3050Detect(gyroDev_t *gyro)
+{
+    if (mpuDetectionResult.sensor != MPU_3050) {
+        return false;
+    }
+    gyro->init = mpu3050Init;
+    gyro->read = mpuGyroRead;
+    gyro->temperature = mpu3050ReadTemperature;
+    gyro->intStatus = mpuCheckDataReady;
+
+    // 16.4 dps/lsb scalefactor
+    gyro->scale = 1.0f / 16.4f;
+
+    return true;
+}
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@ -50,8 +50,17 @@

 #define MPU6050_SMPLRT_DIV      0       // 8000Hz

-static void mpu6050AccInit(accDev_t *acc);
-static void mpu6050GyroInit(gyroDev_t *gyro);
+static void mpu6050AccInit(accDev_t *acc)
+{
+    switch (mpuDetectionResult.resolution) {
+        case MPU_HALF_RESOLUTION:
+            acc->acc_1G = 256 * 4;
+            break;
+        case MPU_FULL_RESOLUTION:
+            acc->acc_1G = 512 * 4;
+            break;
+    }
+}

 bool mpu6050AccDetect(accDev_t *acc)
 {
@ -66,33 +75,6 @@ bool mpu6050AccDetect(accDev_t *acc)
    return true;
 }

-bool mpu6050GyroDetect(gyroDev_t *gyro)
-{
-    if (mpuDetectionResult.sensor != MPU_60x0) {
-        return false;
-    }
-    gyro->init = mpu6050GyroInit;
-    gyro->read = mpuGyroRead;
-    gyro->intStatus = checkMPUDataReady;
-
-    // 16.4 dps/lsb scalefactor
-    gyro->scale = 1.0f / 16.4f;
-
-    return true;
-}
-
-static void mpu6050AccInit(accDev_t *acc)
-{
-    switch (mpuDetectionResult.resolution) {
-        case MPU_HALF_RESOLUTION:
-            acc->acc_1G = 256 * 4;
-            break;
-        case MPU_FULL_RESOLUTION:
-            acc->acc_1G = 512 * 4;
-            break;
-    }
-}
-
 static void mpu6050GyroInit(gyroDev_t *gyro)
 {
    mpuGyroInit(gyro);
@ -116,3 +98,18 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
    mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
 #endif
 }
+
+bool mpu6050GyroDetect(gyroDev_t *gyro)
+{
+    if (mpuDetectionResult.sensor != MPU_60x0) {
+        return false;
+    }
+    gyro->init = mpu6050GyroInit;
+    gyro->read = mpuGyroRead;
+    gyro->intStatus = mpuCheckDataReady;
+
+    // 16.4 dps/lsb scalefactor
+    gyro->scale = 1.0f / 16.4f;
+
+    return true;
+}
--- a/src/main/drivers/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro_mpu6500.c
@ -34,6 +34,11 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu6500.h"

+void mpu6500AccInit(accDev_t *acc)
+{
+    acc->acc_1G = 512 * 4;
+}
+
 bool mpu6500AccDetect(accDev_t *acc)
 {
    if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
@ -46,27 +51,6 @@ bool mpu6500AccDetect(accDev_t *acc)
    return true;
 }

-bool mpu6500GyroDetect(gyroDev_t *gyro)
-{
-    if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
-        return false;
-    }
-
-    gyro->init = mpu6500GyroInit;
-    gyro->read = mpuGyroRead;
-    gyro->intStatus = checkMPUDataReady;
-
-    // 16.4 dps/lsb scalefactor
-    gyro->scale = 1.0f / 16.4f;
-
-    return true;
-}
-
-void mpu6500AccInit(accDev_t *acc)
-{
-    acc->acc_1G = 512 * 4;
-}
-
 void mpu6500GyroInit(gyroDev_t *gyro)
 {
    mpuGyroInit(gyro);
@ -101,3 +85,19 @@ void mpu6500GyroInit(gyroDev_t *gyro)
 #endif
    delay(15);
 }
+
+bool mpu6500GyroDetect(gyroDev_t *gyro)
+{
+    if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
+        return false;
+    }
+
+    gyro->init = mpu6500GyroInit;
+    gyro->read = mpuGyroRead;
+    gyro->intStatus = mpuCheckDataReady;
+
+    // 16.4 dps/lsb scalefactor
+    gyro->scale = 1.0f / 16.4f;
+
+    return true;
+}
--- a/src/main/drivers/accgyro_spi_icm20689.c
+++ b/src/main/drivers/accgyro_spi_icm20689.c
@ -107,6 +107,11 @@ bool icm20689SpiDetect(void)

 }

+void icm20689AccInit(accDev_t *acc)
+{
+    acc->acc_1G = 512 * 4;
+}
+
 bool icm20689SpiAccDetect(accDev_t *acc)
 {
    if (mpuDetectionResult.sensor != ICM_20689_SPI) {
@ -119,27 +124,6 @@ bool icm20689SpiAccDetect(accDev_t *acc)
    return true;
 }

-bool icm20689SpiGyroDetect(gyroDev_t *gyro)
-{
-    if (mpuDetectionResult.sensor != ICM_20689_SPI) {
-        return false;
-    }
-
-    gyro->init = icm20689GyroInit;
-    gyro->read = mpuGyroRead;
-    gyro->intStatus = checkMPUDataReady;
-
-    // 16.4 dps/lsb scalefactor
-    gyro->scale = 1.0f / 16.4f;
-
-    return true;
-}
-
-void icm20689AccInit(accDev_t *acc)
-{
-    acc->acc_1G = 512 * 4;
-}
-
 void icm20689GyroInit(gyroDev_t *gyro)
 {
    mpuGyroInit(gyro);
@ -174,5 +158,20 @@ void icm20689GyroInit(gyroDev_t *gyro)
 #endif

    spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD);
-
+}
+
+bool icm20689SpiGyroDetect(gyroDev_t *gyro)
+{
+    if (mpuDetectionResult.sensor != ICM_20689_SPI) {
+        return false;
+    }
+
+    gyro->init = icm20689GyroInit;
+    gyro->read = mpuGyroRead;
+    gyro->intStatus = mpuCheckDataReady;
+
+    // 16.4 dps/lsb scalefactor
+    gyro->scale = 1.0f / 16.4f;
+
+    return true;
 }
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@ -274,7 +274,7 @@ bool mpu6000SpiGyroDetect(gyroDev_t *gyro)

    gyro->init = mpu6000SpiGyroInit;
    gyro->read = mpuGyroRead;
-    gyro->intStatus = checkMPUDataReady;
+    gyro->intStatus = mpuCheckDataReady;
    // 16.4 dps/lsb scalefactor
    gyro->scale = 1.0f / 16.4f;

--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@ -134,7 +134,7 @@ bool mpu6500SpiGyroDetect(gyroDev_t *gyro)

    gyro->init = mpu6500SpiGyroInit;
    gyro->read = mpuGyroRead;
-    gyro->intStatus = checkMPUDataReady;
+    gyro->intStatus = mpuCheckDataReady;

    // 16.4 dps/lsb scalefactor
    gyro->scale = 1.0f / 16.4f;
--- a/src/main/drivers/accgyro_spi_mpu9250.c
+++ b/src/main/drivers/accgyro_spi_mpu9250.c
@ -229,7 +229,7 @@ bool mpu9250SpiGyroDetect(gyroDev_t *gyro)

    gyro->init = mpu9250SpiGyroInit;
    gyro->read = mpuGyroRead;
-    gyro->intStatus = checkMPUDataReady;
+    gyro->intStatus = mpuCheckDataReady;

    // 16.4 dps/lsb scalefactor
    gyro->scale = 1.0f / 16.4f;
--- a/src/main/drivers/flash.h
+++ b/src/main/drivers/flash.h
@ -18,6 +18,7 @@
 #pragma once

 #include <stdint.h>
+#include "drivers/io_types.h"

 typedef struct flashGeometry_s {
    uint16_t sectors; // Count of the number of erasable blocks on the device
@ -29,3 +30,7 @@ typedef struct flashGeometry_s {

    uint32_t totalSize;  // This is just sectorSize * sectors
 } flashGeometry_t;
+
+typedef struct flashConfig_s {
+	ioTag_t csTag;
+} flashConfig_t;
--- a/src/main/drivers/flash_m25p16.c
+++ b/src/main/drivers/flash_m25p16.c
@ -208,27 +208,21 @@ static bool m25p16_readIdentification()
 * Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
 * m25p16_getGeometry().
 */
-bool m25p16_init(ioTag_t csTag)
+bool m25p16_init(flashConfig_t *flashConfig)
 {
    /*
        if we have already detected a flash device we can simply exit
-
-        TODO: change the init param in favour of flash CFG when ParamGroups work is done
-        then cs pin can be specified in hardware_revision.c or config.c (dependent on revision).
    */
    if (geometry.sectors) {
        return true;
    }

-    if (csTag) {
-        m25p16CsPin = IOGetByTag(csTag);
+    if (flashConfig->csTag) {
+        m25p16CsPin = IOGetByTag(flashConfig->csTag);
    } else {
-#ifdef M25P16_CS_PIN
-        m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
-#else
        return false;
-#endif
    }
+
    IOInit(m25p16CsPin, OWNER_FLASH_CS, 0);
    IOConfigGPIO(m25p16CsPin, SPI_IO_CS_CFG);

--- a/src/main/drivers/flash_m25p16.h
+++ b/src/main/drivers/flash_m25p16.h
@ -18,11 +18,11 @@
 #pragma once

 #include <stdint.h>
-#include "io_types.h"
+#include "flash.h"

 #define M25P16_PAGESIZE 256

-bool m25p16_init(ioTag_t csTag);
+bool m25p16_init(flashConfig_t *flashConfig);

 void m25p16_eraseSector(uint32_t address);
 void m25p16_eraseCompletely();
--- a/src/main/drivers/light_led.c
+++ b/src/main/drivers/light_led.c
@ -22,82 +22,23 @@

 #include "light_led.h"

-static const IO_t leds[] = {
-#ifdef LED0
-    DEFIO_IO(LED0),
-#else
-    DEFIO_IO(NONE),
-#endif
-#ifdef LED1
-    DEFIO_IO(LED1),
-#else
-    DEFIO_IO(NONE),
-#endif
-#ifdef LED2
-    DEFIO_IO(LED2),
-#else
-    DEFIO_IO(NONE),
-#endif
-#if defined(LED0_A) || defined(LED1_A) || defined(LED2_A)
-#ifdef LED0_A
-    DEFIO_IO(LED0_A),
-#else
-    DEFIO_IO(NONE),
-#endif
-#ifdef LED1_A
-    DEFIO_IO(LED1_A),
-#else
-    DEFIO_IO(NONE),
-#endif
-#ifdef LED2_A
-    DEFIO_IO(LED2_A),
-#else
-    DEFIO_IO(NONE),
-#endif
-#endif
-};
+static IO_t leds[LED_NUMBER];
+static uint8_t ledPolarity = 0;

-uint8_t ledPolarity = 0
-#ifdef LED0_INVERTED
-    | BIT(0)
-#endif
-#ifdef LED1_INVERTED
-    | BIT(1)
-#endif
-#ifdef LED2_INVERTED
-    | BIT(2)
-#endif
-#ifdef LED0_A_INVERTED
-    | BIT(3)
-#endif
-#ifdef LED1_A_INVERTED
-    | BIT(4)
-#endif
-#ifdef LED2_A_INVERTED
-    | BIT(5)
-#endif
-    ;
-
-static uint8_t ledOffset = 0;
-
-void ledInit(bool alternative_led)
+void ledInit(statusLedConfig_t *statusLedConfig)
 {
-#if defined(LED0_A) || defined(LED1_A) || defined(LED2_A)
-    if (alternative_led) {
-        ledOffset = LED_NUMBER;
-    }
-#else
-    UNUSED(alternative_led);
-#endif
-
    LED0_OFF;
    LED1_OFF;
    LED2_OFF;

+    ledPolarity = statusLedConfig->polarity;
    for (int i = 0; i < LED_NUMBER; i++) {
-        if (leds[i + ledOffset]) {
-            IOInit(leds[i + ledOffset], OWNER_LED, RESOURCE_INDEX(i));
-            IOConfigGPIO(leds[i + ledOffset], IOCFG_OUT_PP);
+        if (statusLedConfig->ledTags[i]) {
+            leds[i] = IOGetByTag(statusLedConfig->ledTags[i]);
+            IOInit(leds[i], OWNER_LED, RESOURCE_INDEX(i));
+            IOConfigGPIO(leds[i], IOCFG_OUT_PP);
+        } else {
+            leds[i] = IO_NONE;
        }
    }

@ -108,11 +49,11 @@ void ledInit(bool alternative_led)

 void ledToggle(int led)
 {
-    IOToggle(leds[led + ledOffset]);
+    IOToggle(leds[led]);
 }

 void ledSet(int led, bool on)
 {
-    const bool inverted = (1 << (led + ledOffset)) & ledPolarity;
-    IOWrite(leds[led + ledOffset], on ? inverted : !inverted);
+    const bool inverted = (1 << (led)) & ledPolarity;
+    IOWrite(leds[led], on ? inverted : !inverted);
 }
--- a/src/main/drivers/light_led.h
+++ b/src/main/drivers/light_led.h
@ -17,8 +17,15 @@

 #pragma once

+#include "drivers/io_types.h"
+
 #define LED_NUMBER 3

+typedef struct statusLedConfig_s {
+	ioTag_t ledTags[LED_NUMBER];
+	uint8_t polarity;
+} statusLedConfig_t;
+
 // Helpful macros
 #ifdef LED0
 # define LED0_TOGGLE              ledToggle(0)
@ -50,6 +57,6 @@
 # define LED2_ON                  do {} while(0)
 #endif

-void ledInit(bool alternative_led);
+void ledInit(statusLedConfig_t *statusLedConfig);
 void ledToggle(int led);
 void ledSet(int led, bool state);
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@ -24,6 +24,7 @@
 #include "io.h"
 #include "timer.h"
 #include "pwm_output.h"
+#include "system.h"

 #define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
@ -280,3 +281,28 @@ void servoInit(const servoConfig_t *servoConfig)
 }

 #endif
+
+#ifdef BRUSHED_ESC_AUTODETECT
+uint8_t hardwareMotorType = MOTOR_UNKNOWN;
+
+void detectBrushedESC(void)
+{
+    int i = 0;
+    while (!(timerHardware[i].usageFlags & TIM_USE_MOTOR) && (i < USABLE_TIMER_CHANNEL_COUNT)) {
+        i++;
+    }
+
+    IO_t MotorDetectPin = IOGetByTag(timerHardware[i].tag);
+    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
+
+    delayMicroseconds(10);  // allow configuration to settle
+
+    // Check presence of brushed ESC's
+    if (IORead(MotorDetectPin)) {
+        hardwareMotorType = MOTOR_BRUSHLESS;
+    } else {
+        hardwareMotorType = MOTOR_BRUSHED;
+    }
+}
+#endif
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@ -114,3 +114,15 @@ pwmOutputPort_t *pwmGetMotors(void);
 bool pwmIsSynced(void);
 void pwmDisableMotors(void);
 void pwmEnableMotors(void);
+
+#ifdef BRUSHED_ESC_AUTODETECT
+typedef enum {
+    MOTOR_UNKNOWN = 0,
+    MOTOR_BRUSHED,
+    MOTOR_BRUSHLESS
+} HardwareMotorTypes_e;
+
+extern uint8_t hardwareMotorType;
+
+void detectBrushedESC(void);
+#endif
--- a/src/main/drivers/serial_uart_hal.c
+++ b/src/main/drivers/serial_uart_hal.c
@ -179,8 +179,11 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
 {
    uartPort_t *s = NULL;

-    if (USARTx == USART1) {
+    if (false) {
+#ifdef USE_UART1
+    } else if (USARTx == USART1) {
        s = serialUART1(baudRate, mode, options);
+#endif
 #ifdef USE_UART2
    } else if (USARTx == USART2) {
        s = serialUART2(baudRate, mode, options);
--- a/src/main/drivers/timer_hal.c
+++ b/src/main/drivers/timer_hal.c
@ -872,7 +872,7 @@ const timerHardware_t *timerGetByTag(ioTag_t tag, timerUsageFlag_e flag)
 {
    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
        if (timerHardware[i].tag == tag) {
-            if (timerHardware[i].output & flag) {
+            if (timerHardware[i].usageFlags & flag || flag == 0) {
                return &timerHardware[i];
            }
        }
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@ -274,9 +274,19 @@ void resetMotorConfig(motorConfig_t *motorConfig)
    motorConfig->motorPwmProtocol = PWM_TYPE_BRUSHED;
    motorConfig->useUnsyncedPwm = true;
 #else
-    motorConfig->minthrottle = 1070;
-    motorConfig->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
-    motorConfig->motorPwmProtocol = PWM_TYPE_ONESHOT125;
+#ifdef BRUSHED_ESC_AUTODETECT
+    if (hardwareMotorType == MOTOR_BRUSHED) {
+        motorConfig->minthrottle = 1000;
+        motorConfig->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
+        motorConfig->motorPwmProtocol = PWM_TYPE_BRUSHED;
+        motorConfig->useUnsyncedPwm = true;
+    } else
+#endif
+    {
+        motorConfig->minthrottle = 1070;
+        motorConfig->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
+        motorConfig->motorPwmProtocol = PWM_TYPE_ONESHOT125;
+    }
 #endif
    motorConfig->maxthrottle = 2000;
    motorConfig->mincommand = 1000;
@ -490,6 +500,46 @@ void resetMax7456Config(vcdProfile_t *pVcdProfile)
 }
 #endif

+void resetStatusLedConfig(statusLedConfig_t *statusLedConfig)
+{
+    for (int i = 0; i < LED_NUMBER; i++) {
+        statusLedConfig->ledTags[i] = IO_TAG_NONE;
+    }
+
+#ifdef LED0
+    statusLedConfig->ledTags[0] = IO_TAG(LED0);
+#endif
+#ifdef LED1
+    statusLedConfig->ledTags[1] = IO_TAG(LED1);
+#endif
+#ifdef LED2
+    statusLedConfig->ledTags[2] = IO_TAG(LED2);
+#endif
+
+    statusLedConfig->polarity = 0
+#ifdef LED0_INVERTED
+    | BIT(0)
+#endif
+#ifdef LED1_INVERTED
+    | BIT(1)
+#endif
+#ifdef LED2_INVERTED
+    | BIT(2)
+#endif
+    ;    
+}
+
+#ifdef USE_FLASHFS
+void resetFlashConfig(flashConfig_t *flashConfig)
+{
+#ifdef M25P16_CS_PIN
+    flashConfig->csTag = IO_TAG(M25P16_CS_PIN);
+#else
+    flashConfig->csTag = IO_TAG_NONE;
+#endif
+}
+#endif
+
 uint8_t getCurrentProfile(void)
 {
    return masterConfig.current_profile_index;
@ -789,6 +839,12 @@ void createDefaultConfig(master_t *config)
    }
 #endif

+#ifdef USE_FLASHFS
+    resetFlashConfig(&config->flashConfig);
+#endif
+
+    resetStatusLedConfig(&config->statusLedConfig);
+
 #if defined(TARGET_CONFIG)
    targetConfiguration(config);
 #endif
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@ -55,7 +55,7 @@ typedef enum {
    FEATURE_VTX = 1 << 24,
    FEATURE_RX_SPI = 1 << 25,
    FEATURE_SOFTSPI = 1 << 26,
-    FEATURE_ESC_TELEMETRY = 1 << 27
+    FEATURE_ESC_SENSOR = 1 << 27,
 } features_e;

 void beeperOffSet(uint32_t mask);
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@ -882,6 +882,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
        sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
        sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
        sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
+        sbufWriteU8(dst, batteryConfig()->batteryMeterType);
        break;

    case MSP_CURRENT_METER_CONFIG:
@ -1662,6 +1663,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
        batteryConfig()->vbatmincellvoltage = sbufReadU8(src);  // vbatlevel_warn1 in MWC2.3 GUI
        batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src);  // vbatlevel_warn2 in MWC2.3 GUI
        batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src);  // vbatlevel when buzzer starts to alert
+        if (dataSize > 4) {
+            batteryConfig()->batteryMeterType = sbufReadU8(src);
+        }
        break;

    case MSP_SET_CURRENT_METER_CONFIG:
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@ -22,7 +22,6 @@
 #include <platform.h>

 #include "cms/cms.h"
-#include "cms/cms_types.h"

 #include "common/axis.h"
 #include "common/color.h"
@ -65,11 +64,11 @@
 #include "sensors/compass.h"
 #include "sensors/gyro.h"
 #include "sensors/sonar.h"
+#include "sensors/esc_sensor.h"

 #include "scheduler/scheduler.h"

 #include "telemetry/telemetry.h"
-#include "telemetry/esc_telemetry.h"

 #include "config/feature.h"
 #include "config/config_profile.h"
@ -111,9 +110,9 @@ static void taskHandleSerial(timeUs_t currentTimeUs)

 static void taskUpdateBattery(timeUs_t currentTimeUs)
 {
-#ifdef USE_ADC
+#if defined(USE_ADC) || defined(USE_ESC_SENSOR)
    static uint32_t vbatLastServiced = 0;
-    if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) {
+    if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) {
        if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
            vbatLastServiced = currentTimeUs;
            updateBattery();
@ -122,7 +121,7 @@ static void taskUpdateBattery(timeUs_t currentTimeUs)
 #endif

    static uint32_t ibatLastServiced = 0;
-    if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
+    if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_SENSOR)) {
        const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);

        if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
@ -205,15 +204,6 @@ static void taskTelemetry(timeUs_t currentTimeUs)
 }
 #endif

-#ifdef USE_ESC_TELEMETRY
-static void taskEscTelemetry(timeUs_t currentTimeUs)
-{
-    if (feature(FEATURE_ESC_TELEMETRY)) {
-        escTelemetryProcess(currentTimeUs);
-     }
- }
-#endif
-
 #ifdef VTX_CONTROL
 // Everything that listens to VTX devices
 void taskVtxControl(uint32_t currentTime)
@ -292,8 +282,8 @@ void fcTasksInit(void)
 #ifdef USE_BST
    setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 #endif
-#ifdef USE_ESC_TELEMETRY
-    setTaskEnabled(TASK_ESC_TELEMETRY, feature(FEATURE_ESC_TELEMETRY));
+#ifdef USE_ESC_SENSOR
+    setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
 #endif
 #ifdef CMS
 #ifdef USE_MSP_DISPLAYPORT
@ -470,11 +460,11 @@ cfTask_t cfTasks[TASK_COUNT] = {
    },
 #endif

-#ifdef USE_ESC_TELEMETRY
-    [TASK_ESC_TELEMETRY] = {
-        .taskName = "ESC_TELEMETRY",
-        .taskFunc = taskEscTelemetry,
-        .desiredPeriod = 1000000 / 100,         // 100 Hz
+#ifdef USE_ESC_SENSOR
+    [TASK_ESC_SENSOR] = {
+        .taskName = "ESC_SENSOR",
+        .taskFunc = escSensorProcess,
+        .desiredPeriod = TASK_PERIOD_HZ(100),       // 100 Hz every 10ms
        .staticPriority = TASK_PRIORITY_LOW,
    },
 #endif
--- a/src/main/io/serial.h
+++ b/src/main/io/serial.h
@ -37,7 +37,7 @@ typedef enum {
    FUNCTION_BLACKBOX            = (1 << 7), // 128

    FUNCTION_TELEMETRY_MAVLINK   = (1 << 9), // 512
-    FUNCTION_TELEMETRY_ESC       = (1 << 10), // 1024
+    FUNCTION_ESC_SENSOR          = (1 << 10),// 1024
    FUNCTION_VTX_CONTROL         = (1 << 11),// 2048
 } serialPortFunction_e;

--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@ -234,7 +234,7 @@ static const char * const featureNames[] = {
    "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
    "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
-    "SDCARD", "VTX", "RX_SPI", "SOFTSPI", "ESC_TELEMETRY", NULL
+    "SDCARD", "VTX", "RX_SPI", "SOFTSPI", "ESC_SENSOR", NULL
 };

 // sync this with rxFailsafeChannelMode_e
@ -415,7 +415,11 @@ static const char * const lookupTableGPSSBASMode[] = {
 #endif

 static const char * const lookupTableCurrentSensor[] = {
-    "NONE", "ADC", "VIRTUAL"
+    "NONE", "ADC", "VIRTUAL", "ESC"
+};
+
+static const char * const lookupTableBatterySensor[] = {
+    "ADC", "ESC"
 };

 #ifdef USE_SERVOS
@ -519,7 +523,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
    "VELOCITY",
    "DFILTER",
    "ANGLERATE",
-    "ESC_TELEMETRY",
+    "ESC_SENSOR",
    "SCHEDULER",
 };

@ -571,6 +575,7 @@ typedef enum {
    TABLE_BLACKBOX_DEVICE,
 #endif
    TABLE_CURRENT_SENSOR,
+    TABLE_BATTERY_SENSOR,
 #ifdef USE_SERVOS
    TABLE_GIMBAL_MODE,
 #endif
@ -611,6 +616,7 @@ static const lookupTableEntry_t lookupTables[] = {
    { lookupTableBlackboxDevice, sizeof(lookupTableBlackboxDevice) / sizeof(char *) },
 #endif
    { lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
+    { lookupTableBatterySensor, sizeof(lookupTableBatterySensor) / sizeof(char *) },
 #ifdef USE_SERVOS
    { lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
 #endif
@ -799,6 +805,7 @@ const clivalue_t valueTable[] = {
    { "current_meter_offset",       VAR_INT16 | MASTER_VALUE,  &batteryConfig()->currentMeterOffset, .config.minmax = { -16000, 16000 } },
    { "multiwii_current_meter_output", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
    { "current_meter_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &batteryConfig()->currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
+    { "battery_meter_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &batteryConfig()->batteryMeterType, .config.lookup = { TABLE_BATTERY_SENSOR } },
    { "battery_notpresent_level",   VAR_UINT8  | MASTER_VALUE, &batteryConfig()->batterynotpresentlevel, .config.minmax = { 0, 200 } },
    { "use_vbat_alerts",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useVBatAlerts, .config.lookup = { TABLE_OFF_ON } },
    { "use_consumption_alerts",     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
--- a/src/main/main.c
+++ b/src/main/main.c
@ -36,7 +36,6 @@
 #include "drivers/sensor.h"
 #include "drivers/system.h"
 #include "drivers/dma.h"
-#include "drivers/gpio.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
 #include "drivers/sound_beeper.h"
@ -106,7 +105,7 @@
 #include "sensors/initialisation.h"

 #include "telemetry/telemetry.h"
-#include "telemetry/esc_telemetry.h"
+#include "sensors/esc_sensor.h"

 #include "flight/pid.h"
 #include "flight/imu.h"
@ -126,6 +125,10 @@
 #include "build/build_config.h"
 #include "build/debug.h"

+#ifdef TARGET_BUS_INIT
+void targetBusInit(void);
+#endif
+
 extern uint8_t motorControlEnable;

 #ifdef SOFTSERIAL_LOOPBACK
@ -160,6 +163,10 @@ void init(void)
    detectHardwareRevision();
 #endif

+#ifdef BRUSHED_ESC_AUTODETECT
+    detectBrushedESC();
+#endif
+
    initEEPROM();

    ensureEEPROMContainsValidData();
@ -174,11 +181,7 @@ void init(void)
    // Latch active features to be used for feature() in the remainder of init().
    latchActiveFeatures();

-#ifdef ALIENFLIGHTF3
-    ledInit(hardwareRevision == AFF3_REV_1 ? false : true);
-#else
-    ledInit(false);
-#endif
+    ledInit(&masterConfig.statusLedConfig);
    LED2_ON;

 #ifdef USE_EXTI
@ -186,28 +189,22 @@ void init(void)
 #endif

 #if defined(BUTTONS)
-    gpio_config_t buttonAGpioConfig = {
-        BUTTON_A_PIN,
-        Mode_IPU,
-        Speed_2MHz
-    };
-    gpioInit(BUTTON_A_PORT, &buttonAGpioConfig);
+    IO_t buttonAPin = IOGetByTag(IO_TAG(BUTTON_A_PIN));
+    IOInit(buttonAPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(buttonAPin, IOCFG_IPU);

-    gpio_config_t buttonBGpioConfig = {
-        BUTTON_B_PIN,
-        Mode_IPU,
-        Speed_2MHz
-    };
-    gpioInit(BUTTON_B_PORT, &buttonBGpioConfig);
+    IO_t buttonBPin = IOGetByTag(IO_TAG(BUTTON_B_PIN));
+    IOInit(buttonBPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(buttonBPin, IOCFG_IPU);

    // Check status of bind plug and exit if not active
-    delayMicroseconds(10);  // allow GPIO configuration to settle
+    delayMicroseconds(10);  // allow configuration to settle

    if (!isMPUSoftReset()) {
        uint8_t secondsRemaining = 5;
        bool bothButtonsHeld;
        do {
-            bothButtonsHeld = !digitalIn(BUTTON_A_PORT, BUTTON_A_PIN) && !digitalIn(BUTTON_B_PORT, BUTTON_B_PIN);
+            bothButtonsHeld = !IORead(buttonAPin) && !IORead(buttonBPin);
            if (bothButtonsHeld) {
                if (--secondsRemaining == 0) {
                    resetEEPROM();
@ -293,7 +290,6 @@ void init(void)
    pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
 #endif

-
    systemState |= SYSTEM_STATE_MOTORS_READY;

 #ifdef BEEPER
@ -308,74 +304,48 @@ void init(void)
    bstInit(BST_DEVICE);
 #endif

-#ifdef USE_SPI
-#ifdef USE_SPI_DEVICE_1
-    spiInit(SPIDEV_1);
-#endif
-#ifdef USE_SPI_DEVICE_2
-    spiInit(SPIDEV_2);
-#endif
-#ifdef USE_SPI_DEVICE_3
-#ifdef ALIENFLIGHTF3
-    if (hardwareRevision == AFF3_REV_2) {
-        spiInit(SPIDEV_3);
-    }
+#ifdef TARGET_BUS_INIT
+    targetBusInit();
 #else
-    spiInit(SPIDEV_3);
-#endif
-#endif
-#ifdef USE_SPI_DEVICE_4
-    spiInit(SPIDEV_4);
-#endif
-#endif
+    #ifdef USE_SPI
+        #ifdef USE_SPI_DEVICE_1
+            spiInit(SPIDEV_1);
+        #endif
+        #ifdef USE_SPI_DEVICE_2
+            spiInit(SPIDEV_2);
+        #endif
+        #ifdef USE_SPI_DEVICE_3
+            spiInit(SPIDEV_3);
+        #endif
+        #ifdef USE_SPI_DEVICE_4
+            spiInit(SPIDEV_4);
+        #endif
+    #endif

-#ifdef VTX
-    vtxInit();
+    #ifdef USE_I2C
+        i2cInit(I2C_DEVICE);
+    #endif
 #endif

 #ifdef USE_HARDWARE_REVISION_DETECTION
    updateHardwareRevision();
 #endif

-#if defined(NAZE)
-    if (hardwareRevision == NAZE32_SP) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
-    } else  {
-        serialRemovePort(SERIAL_PORT_USART3);
-    }
+#ifdef VTX
+    vtxInit();
 #endif

-#if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
+#if defined(SONAR_SOFTSERIAL2_EXCLUSIVE) && defined(SONAR) && defined(USE_SOFTSERIAL2)
    if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
    }
 #endif

-#if defined(SPRACINGF3MINI) || defined(OMNIBUS) || defined(X_RACERSPI)
-#if defined(SONAR) && defined(USE_SOFTSERIAL1)
+#if defined(SONAR_SOFTSERIAL1_EXCLUSIVE) && defined(SONAR) && defined(USE_SOFTSERIAL1)
    if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
        serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
    }
 #endif
-#endif
-
-#ifdef USE_I2C
-#if defined(NAZE)
-    if (hardwareRevision != NAZE32_SP) {
-        i2cInit(I2C_DEVICE);
-    } else {
-        if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
-            i2cInit(I2C_DEVICE);
-        }
-    }
-#elif defined(CC3D)
-    if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
-        i2cInit(I2C_DEVICE);
-    }
-#else
-    i2cInit(I2C_DEVICE);
-#endif
-#endif

 #ifdef USE_ADC
    /* these can be removed from features! */
@ -385,7 +355,6 @@ void init(void)
    adcInit(&masterConfig.adcConfig);
 #endif

-
    initBoardAlignment(&masterConfig.boardAlignment);

 #ifdef CMS
@ -495,9 +464,9 @@ void init(void)
    }
 #endif

-#ifdef USE_ESC_TELEMETRY
-    if (feature(FEATURE_ESC_TELEMETRY)) {
-        escTelemetryInit();
+#ifdef USE_ESC_SENSOR
+    if (feature(FEATURE_ESC_SENSOR)) {
+        escSensorInit();
    }
 #endif

@ -515,12 +484,8 @@ void init(void)
 #endif

 #ifdef USE_FLASHFS
-#ifdef NAZE
-    if (hardwareRevision == NAZE32_REV5) {
-        m25p16_init(IO_TAG_NONE);
-    }
-#elif defined(USE_FLASH_M25P16)
-    m25p16_init(IO_TAG_NONE);
+#if defined(USE_FLASH_M25P16)
+    m25p16_init(&masterConfig.flashConfig);
 #endif

    flashfsInit();
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@ -59,7 +59,7 @@
 #define MSP_PROTOCOL_VERSION                0

 #define API_VERSION_MAJOR                   1 // increment when major changes are made
-#define API_VERSION_MINOR                   22 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+#define API_VERSION_MINOR                   23 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR

 #define API_VERSION_LENGTH                  2

--- a/src/main/platform.h
+++ b/src/main/platform.h
@ -17,7 +17,7 @@

 #pragma once

-#if defined(STM32F745xx)
+#if defined(STM32F745xx) || defined(STM32F746xx)
 #include "stm32f7xx.h"
 #include "stm32f7xx_hal.h"

--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@ -94,8 +94,8 @@ typedef enum {
 #ifdef USE_BST
    TASK_BST_MASTER_PROCESS,
 #endif
-#ifdef USE_ESC_TELEMETRY
-    TASK_ESC_TELEMETRY,
+#ifdef USE_ESC_SENSOR
+    TASK_ESC_SENSOR,
 #endif
 #ifdef CMS
    TASK_CMS,
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@ -34,8 +34,7 @@
 #include "config/feature.h"

 #include "sensors/battery.h"
-
-#include "telemetry/esc_telemetry.h"
+#include "sensors/esc_sensor.h"

 #include "fc/rc_controls.h"
 #include "io/beeper.h"
@ -84,9 +83,9 @@ static void updateBatteryVoltage(void)
        vBatFilterIsInitialised = true;
    }

-    #ifdef USE_ESC_TELEMETRY
-    if (batteryConfig->batteryMeterType == BATTERY_SENSOR_ESC && isEscTelemetryActive()) {
-        vbatLatest = getEscTelemetryVbat();
+    #ifdef USE_ESC_SENSOR
+    if (feature(FEATURE_ESC_SENSOR) && batteryConfig->batteryMeterType == BATTERY_SENSOR_ESC) {
+        vbatLatest = getEscSensorVbat();
        if (debugMode == DEBUG_BATTERY) {
            debug[0] = -1;
        }
@ -292,11 +291,11 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea

            break;
        case CURRENT_SENSOR_ESC:
-            #ifdef USE_ESC_TELEMETRY
-            if (isEscTelemetryActive()) {
-                amperageLatest = getEscTelemetryCurrent();
+            #ifdef USE_ESC_SENSOR
+            if (feature(FEATURE_ESC_SENSOR)) {
+                amperageLatest = getEscSensorCurrent();
                amperage = amperageLatest;
-                mAhDrawn = getEscTelemetryConsumption();
+                mAhDrawn = getEscSensorConsumption();

                updateConsumptionWarning();
            }
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@ -31,12 +31,12 @@ typedef enum {
    CURRENT_SENSOR_NONE = 0,
    CURRENT_SENSOR_ADC,
    CURRENT_SENSOR_VIRTUAL,
-    CURRENT_SENSOR_ESC
+    CURRENT_SENSOR_ESC,
+    CURRENT_SENSOR_MAX = CURRENT_SENSOR_ESC
 } currentSensor_e;

 typedef enum {
-    BATTERY_SENSOR_NONE = 0,
-    BATTERY_SENSOR_ADC,
+    BATTERY_SENSOR_ADC = 0,
    BATTERY_SENSOR_ESC
 } batterySensor_e;

--- a/src/main/sensors/esc_sensor.c
+++ b/src/main/sensors/esc_sensor.c
@ -0,0 +1,313 @@
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include <platform.h>
+
+#include "fc/config.h"
+#include "config/feature.h"
+#include "config/config_master.h"
+
+#include "common/utils.h"
+
+#include "drivers/system.h"
+#include "drivers/serial.h"
+#include "drivers/serial_uart.h"
+#include "drivers/pwm_output.h"
+
+#include "io/serial.h"
+
+#include "flight/mixer.h"
+
+#include "sensors/battery.h"
+
+#include "esc_sensor.h"
+
+#include "build/debug.h"
+
+/*
+KISS ESC TELEMETRY PROTOCOL
+---------------------------
+
+One transmission will have 10 times 8-bit bytes sent with 115200 baud and 3.6V.
+
+Byte 0: Temperature
+Byte 1: Voltage high byte
+Byte 2: Voltage low byte
+Byte 3: Current high byte
+Byte 4: Current low byte
+Byte 5: Consumption high byte
+Byte 6: Consumption low byte
+Byte 7: Rpm high byte
+Byte 8: Rpm low byte
+Byte 9: 8-bit CRC
+
+*/
+
+/*
+DEBUG INFORMATION
+-----------------
+
+set debug_mode = DEBUG_ESC_TELEMETRY in cli
+
+0: current motor index requested
+1: number of timeouts
+2: voltage
+3: current
+*/
+
+#ifdef USE_DSHOT
+
+typedef struct {
+    bool skipped;
+    int16_t temperature;
+    int16_t voltage;
+    int16_t current;
+    int16_t consumption;
+    int16_t rpm;
+} esc_telemetry_t;
+
+typedef enum {
+    ESC_SENSOR_FRAME_PENDING = 1 << 0,     // 1
+    ESC_SENSOR_FRAME_COMPLETE = 1 << 1     // 2
+} escTlmFrameState_t;
+
+typedef enum {
+    ESC_SENSOR_TRIGGER_WAIT = 0,
+    ESC_SENSOR_TRIGGER_READY = 1 << 0,     // 1
+    ESC_SENSOR_TRIGGER_PENDING = 1 << 1,   // 2
+} escSensorTriggerState_t;
+
+#define ESC_SENSOR_BAUDRATE 115200
+#define ESC_SENSOR_BUFFSIZE 10
+#define ESC_BOOTTIME 5000               // 5 seconds
+#define ESC_REQUEST_TIMEOUT 100         // 100 ms (data transfer takes only 900us)
+
+static bool tlmFrameDone = false;
+static uint8_t tlm[ESC_SENSOR_BUFFSIZE] = { 0, };
+static uint8_t tlmFramePosition = 0;
+static serialPort_t *escSensorPort = NULL;
+static esc_telemetry_t escSensorData[MAX_SUPPORTED_MOTORS];
+static uint32_t escTriggerTimestamp = -1;
+static uint32_t escLastResponseTimestamp;
+static uint8_t timeoutRetryCount = 0;
+static uint8_t totalRetryCount = 0;
+
+static uint8_t escSensorMotor = 0;      // motor index
+static bool escSensorEnabled = false;
+static escSensorTriggerState_t escSensorTriggerState = ESC_SENSOR_TRIGGER_WAIT;
+
+static int16_t escVbat = 0;
+static int16_t escCurrent = 0;
+static int16_t escConsumption = 0;
+
+static void escSensorDataReceive(uint16_t c);
+static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed);
+static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen);
+static void selectNextMotor(void);
+
+bool isEscSensorActive(void)
+{
+    return escSensorEnabled;
+}
+
+int16_t getEscSensorVbat(void)
+{
+    return escVbat / 10;
+}
+
+int16_t getEscSensorCurrent(void)
+{
+    return escCurrent;
+}
+
+int16_t getEscSensorConsumption(void)
+{
+    return escConsumption;
+}
+
+bool escSensorInit(void)
+{
+    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_ESC_SENSOR);
+    if (!portConfig) {
+        return false;
+    }
+
+    portOptions_t options = (SERIAL_NOT_INVERTED);
+
+    // Initialize serial port
+    escSensorPort = openSerialPort(portConfig->identifier, FUNCTION_ESC_SENSOR, escSensorDataReceive, ESC_SENSOR_BAUDRATE, MODE_RX, options);
+
+    if (escSensorPort) {
+        escSensorEnabled = true;
+    }
+
+    return escSensorPort != NULL;
+}
+
+void freeEscSensorPort(void)
+{
+    closeSerialPort(escSensorPort);
+    escSensorPort = NULL;
+    escSensorEnabled = false;
+}
+
+// Receive ISR callback
+static void escSensorDataReceive(uint16_t c)
+{
+    // KISS ESC sends some data during startup, ignore this for now (maybe future use)
+    // startup data could be firmware version and serialnumber
+
+    if (escSensorTriggerState == ESC_SENSOR_TRIGGER_WAIT) return;
+
+    tlm[tlmFramePosition] = (uint8_t)c;
+
+    if (tlmFramePosition == ESC_SENSOR_BUFFSIZE - 1) {
+        tlmFrameDone = true;
+        tlmFramePosition = 0;
+    } else {
+        tlmFramePosition++;
+    }
+}
+
+uint8_t escSensorFrameStatus(void)
+{
+    uint8_t frameStatus = ESC_SENSOR_FRAME_PENDING;
+    uint16_t chksum, tlmsum;
+
+    if (!tlmFrameDone) {
+        return frameStatus;
+    }
+
+    tlmFrameDone = false;
+
+    // Get CRC8 checksum
+    chksum = get_crc8(tlm, ESC_SENSOR_BUFFSIZE - 1);
+    tlmsum = tlm[ESC_SENSOR_BUFFSIZE - 1];     // last byte contains CRC value
+
+    if (chksum == tlmsum) {
+        escSensorData[escSensorMotor].skipped = false;
+        escSensorData[escSensorMotor].temperature = tlm[0];
+        escSensorData[escSensorMotor].voltage = tlm[1] << 8 | tlm[2];
+        escSensorData[escSensorMotor].current = tlm[3] << 8 | tlm[4];
+        escSensorData[escSensorMotor].consumption = tlm[5] << 8 | tlm[6];
+        escSensorData[escSensorMotor].rpm = tlm[7] << 8 | tlm[8];
+
+        frameStatus = ESC_SENSOR_FRAME_COMPLETE;
+    }
+
+    return frameStatus;
+}
+
+void escSensorProcess(timeUs_t currentTimeUs)
+{
+    const timeMs_t currentTimeMs = currentTimeUs / 1000;
+
+    if (!escSensorEnabled) {
+        return;
+    }
+
+    // Wait period of time before requesting telemetry (let the system boot first)
+    if (currentTimeMs < ESC_BOOTTIME) {
+        return;
+    }
+    else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_WAIT) {
+        // Ready for starting requesting telemetry
+        escSensorTriggerState = ESC_SENSOR_TRIGGER_READY;
+        escSensorMotor = 0;
+        escTriggerTimestamp = currentTimeMs;
+        escLastResponseTimestamp = escTriggerTimestamp;
+    }
+    else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_READY) {
+        DEBUG_SET(DEBUG_ESC_SENSOR, 0, escSensorMotor+1);
+
+        motorDmaOutput_t * const motor = getMotorDmaOutput(escSensorMotor);
+        motor->requestTelemetry = true;
+        escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING;
+    }
+    else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_PENDING) {
+
+        if (escTriggerTimestamp + ESC_REQUEST_TIMEOUT < currentTimeMs) {
+            // ESC did not repond in time, retry
+            timeoutRetryCount++;
+            escTriggerTimestamp = currentTimeMs;
+            escSensorTriggerState = ESC_SENSOR_TRIGGER_READY;
+
+            if (timeoutRetryCount == 4) {
+                // Not responding after 3 times, skip motor
+                escSensorData[escSensorMotor].skipped = true;
+                selectNextMotor();
+            }
+
+            DEBUG_SET(DEBUG_ESC_SENSOR, 1, ++totalRetryCount);
+        }
+
+        // Get received frame status
+        uint8_t state = escSensorFrameStatus();
+
+        if (state == ESC_SENSOR_FRAME_COMPLETE) {
+            // Wait until all ESCs are processed
+            if (escSensorMotor == getMotorCount()-1) {
+                escCurrent = 0;
+                escConsumption = 0;
+                escVbat = 0;
+
+                for (int i = 0; i < getMotorCount(); i++) {
+                    if (!escSensorData[i].skipped) {
+                        escVbat =  i > 0 ? ((escVbat + escSensorData[i].voltage) / 2) : escSensorData[i].voltage;
+                        escCurrent = escCurrent + escSensorData[i].current;
+                        escConsumption = escConsumption + escSensorData[i].consumption;
+                    }
+                }
+            }
+
+            DEBUG_SET(DEBUG_ESC_SENSOR, 2, escVbat);
+            DEBUG_SET(DEBUG_ESC_SENSOR, 3, escCurrent);
+
+            selectNextMotor();
+            escSensorTriggerState = ESC_SENSOR_TRIGGER_READY;
+            escLastResponseTimestamp = currentTimeMs;
+        }
+    }
+
+    if (escLastResponseTimestamp + 10000 < currentTimeMs) {
+        // ESCs did not respond for 10 seconds
+        // Disable ESC telemetry and reset voltage and current to let the use know something is wrong
+        freeEscSensorPort();
+        escVbat = 0;
+        escCurrent = 0;
+    }
+}
+
+static void selectNextMotor(void)
+{
+    escSensorMotor++;
+    if (escSensorMotor == getMotorCount()) {
+        escSensorMotor = 0;
+    }
+    timeoutRetryCount = 0;
+    escTriggerTimestamp = millis();
+}
+
+//-- CRC
+
+static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed)
+{
+    uint8_t crc_u = crc;
+    crc_u ^= crc_seed;
+
+    for (int i=0; i<8; i++) {
+        crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
+    }
+
+    return (crc_u);
+}
+
+static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
+{
+    uint8_t crc = 0;
+    for(int i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc);
+    return (crc);
+}
+
+#endif
--- a/src/main/sensors/esc_sensor.h
+++ b/src/main/sensors/esc_sensor.h
@ -0,0 +1,10 @@
+#pragma once
+
+uint8_t escSensorFrameStatus(void);
+bool escSensorInit(void);
+bool isEscSensorActive(void);
+int16_t getEscSensorVbat(void);
+int16_t getEscSensorCurrent(void);
+int16_t getEscSensorConsumption(void);
+
+void escSensorProcess(uint32_t currentTime);
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@ -91,7 +91,7 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,

    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();

-    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
+    mpuDetectionResult_t *mpuDetectionResult = mpuDetect(extiConfig);
    UNUSED(mpuDetectionResult);
 #endif

--- a/src/main/target/ALIENFLIGHTF1/AlienFlight.md
+++ b/src/main/target/ALIENFLIGHTF1/AlienFlight.md
@ -2,9 +2,10 @@

 AlienWii is now AlienFlight. This targets supports various variants of brushed and brushless flight controllers. The designs for them are released partially for public use at:

+http://www.alienflight.com
 http://www.alienflightng.com

-The legacy designs are available at:
+AlienFlight Classic and F3 Eagle files are available at:

 https://github.com/MJ666/Flight-Controllers

--- a/src/main/target/ALIENFLIGHTF1/config.c
+++ b/src/main/target/ALIENFLIGHTF1/config.c
@ -33,7 +33,7 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"

-#include "hardware_revision.h"
+#define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz

 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(master_t *config)
@ -42,10 +42,7 @@ void targetConfiguration(master_t *config)
    config->rxConfig.spektrum_sat_bind_autoreset = 1;

    if (hardwareMotorType == MOTOR_BRUSHED) {
-        config->motorConfig.minthrottle = 1000;
-        config->motorConfig.motorPwmRate = 32000;
-        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
-        config->motorConfig.useUnsyncedPwm = true;
+        config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
    }

    config->profile[0].pidProfile.P8[ROLL] = 90;
--- a/src/main/target/ALIENFLIGHTF1/target.h
+++ b/src/main/target/ALIENFLIGHTF1/target.h
@ -20,8 +20,7 @@
 #define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
 #define TARGET_CONFIG

-#define USE_HARDWARE_REVISION_DETECTION
-#define MOTOR_PIN               PA8
+#define BRUSHED_ESC_AUTODETECT

 #define LED0                    PB3
 #define LED1                    PB4
--- a/src/main/target/ALIENFLIGHTF3/AlienFlight.md
+++ b/src/main/target/ALIENFLIGHTF3/AlienFlight.md
@ -2,9 +2,10 @@

 AlienWii is now AlienFlight. This targets supports various variants of brushed and brushless flight controllers. The designs for them are released partially for public use at:

+http://www.alienflight.com
 http://www.alienflightng.com

-The legacy designs are available at:
+AlienFlight Classic and F3 Eagle files are available at:

 https://github.com/MJ666/Flight-Controllers

--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@ -42,19 +42,46 @@

 #include "hardware_revision.h"

+#define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
+
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(master_t *config)
 {
+    /* depending on revision ... depends on the LEDs to be utilised. */
+    if (hardwareRevision == AFF3_REV_2) {
+        config->statusLedConfig.polarity = 0
+#ifdef LED0_A_INVERTED
+            | BIT(0)
+#endif
+#ifdef LED1_A_INVERTED
+            | BIT(1)
+#endif
+#ifdef LED2_A_INVERTED
+            | BIT(2)
+#endif
+            ;
+
+        for (int i = 0; i < LED_NUMBER; i++) {
+            config->statusLedConfig.ledTags[i] = IO_TAG_NONE;
+        }
+#ifdef LED0_A
+        config->statusLedConfig.ledTags[0] = IO_TAG(LED0_A);
+#endif
+#ifdef LED1_A
+        config->statusLedConfig.ledTags[1] = IO_TAG(LED1_A);
+#endif
+#ifdef LED2_A
+        config->statusLedConfig.ledTags[2] = IO_TAG(LED2_A);
+#endif
+    }
+
    config->rxConfig.spektrum_sat_bind = 5;
    config->rxConfig.spektrum_sat_bind_autoreset = 1;
    config->compassConfig.mag_hardware = MAG_NONE;            // disabled by default

    if (hardwareMotorType == MOTOR_BRUSHED) {
-        config->motorConfig.minthrottle = 1000;
-        config->motorConfig.motorPwmRate = 32000;
-        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
+        config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
        config->pid_process_denom = 2;
-        config->motorConfig.useUnsyncedPwm = true;
    }

    config->profile[0].pidProfile.P8[ROLL] = 90;
--- a/src/main/target/ALIENFLIGHTF3/hardware_revision.c
+++ b/src/main/target/ALIENFLIGHTF3/hardware_revision.c
@ -29,10 +29,8 @@
 #include "hardware_revision.h"

 uint8_t hardwareRevision = AFF3_UNKNOWN;
-uint8_t hardwareMotorType = MOTOR_UNKNOWN;

 static IO_t HWDetectPin = IO_NONE;
-static IO_t MotorDetectPin = IO_NONE;

 void detectHardwareRevision(void)
 {
@ -40,10 +38,6 @@ void detectHardwareRevision(void)
    IOInit(HWDetectPin, OWNER_SYSTEM, 0);
    IOConfigGPIO(HWDetectPin, IOCFG_IPU);

-    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
-    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
-
    delayMicroseconds(10);  // allow configuration to settle

    // Check hardware revision
@ -52,13 +46,6 @@ void detectHardwareRevision(void)
    } else {
        hardwareRevision = AFF3_REV_2;
    }
-
-    // Check presence of brushed ESC's
-    if (IORead(MotorDetectPin)) {
-        hardwareMotorType = MOTOR_BRUSHLESS;
-    } else {
-        hardwareMotorType = MOTOR_BRUSHED;
-    }
 }

 void updateHardwareRevision(void)
--- a/src/main/target/ALIENFLIGHTF3/hardware_revision.h
+++ b/src/main/target/ALIENFLIGHTF3/hardware_revision.h
@ -22,14 +22,7 @@ typedef enum awf3HardwareRevision_t {
    AFF3_REV_2  // MPU6500 / MPU9250 (SPI)
 } awf3HardwareRevision_e;

-typedef enum awf4HardwareMotorType_t {
-    MOTOR_UNKNOWN = 0,
-    MOTOR_BRUSHED,
-    MOTOR_BRUSHLESS
-} awf4HardwareMotorType_e;
-
 extern uint8_t hardwareRevision;
-extern uint8_t hardwareMotorType;

 void updateHardwareRevision(void);
 void detectHardwareRevision(void);
--- a/src/main/target/ALIENFLIGHTF3/initialisation.c
+++ b/src/main/target/ALIENFLIGHTF3/initialisation.c
@ -0,0 +1,48 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_spi.h"
+#include "hardware_revision.h"
+
+void targetBusInit(void)
+{
+	#ifdef USE_SPI
+    #ifdef USE_SPI_DEVICE_1
+        spiInit(SPIDEV_1);
+    #endif
+    #ifdef USE_SPI_DEVICE_2
+        spiInit(SPIDEV_2);
+    #endif
+    #ifdef USE_SPI_DEVICE_3
+        if (hardwareRevision == AFF3_REV_2) {
+            spiInit(SPIDEV_3);
+        }
+    #endif
+    #ifdef USE_SPI_DEVICE_4
+        spiInit(SPIDEV_4);
+    #endif
+    #endif
+
+    #ifdef USE_I2C
+        i2cInit(I2C_DEVICE);
+    #endif
+}
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@ -19,12 +19,13 @@

 #define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
 #define TARGET_CONFIG
+#define TARGET_BUS_INIT

 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT

 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PB2
-#define MOTOR_PIN               PB15
+#define BRUSHED_ESC_AUTODETECT

 // LED's V1
 #define LED0                    PB4
--- a/src/main/target/ALIENFLIGHTF4/AlienFlight.md
+++ b/src/main/target/ALIENFLIGHTF4/AlienFlight.md
@ -2,9 +2,10 @@

 AlienWii is now AlienFlight. This targets supports various variants of brushed and brushless flight controllers. The designs for them are released partially for public use at:

+http://www.alienflight.com
 http://www.alienflightng.com

-The legacy designs are available at:
+AlienFlight Classic and F3 Eagle files are available at:

 https://github.com/MJ666/Flight-Controllers

--- a/src/main/target/ALIENFLIGHTF4/config.c
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@ -61,11 +61,8 @@ void targetConfiguration(master_t *config)
    config->compassConfig.mag_hardware = MAG_NONE;            // disabled by default

    if (hardwareMotorType == MOTOR_BRUSHED) {
-        config->motorConfig.minthrottle = 1000;
        config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
-        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
        config->pid_process_denom = 1;
-        config->motorConfig.useUnsyncedPwm = true;
    }

    if (hardwareRevision == AFF4_REV_1) {
--- a/src/main/target/ALIENFLIGHTF4/hardware_revision.c
+++ b/src/main/target/ALIENFLIGHTF4/hardware_revision.c
@ -28,10 +28,8 @@
 #include "hardware_revision.h"

 uint8_t hardwareRevision = AFF4_UNKNOWN;
-uint8_t hardwareMotorType = MOTOR_UNKNOWN;

 static IO_t HWDetectPin = IO_NONE;
-static IO_t MotorDetectPin = IO_NONE;

 void detectHardwareRevision(void)
 {
@ -39,10 +37,6 @@ void detectHardwareRevision(void)
    IOInit(HWDetectPin, OWNER_SYSTEM, 0);
    IOConfigGPIO(HWDetectPin, IOCFG_IPU);

-    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
-    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
-
    delayMicroseconds(10);  // allow configuration to settle

    // Check hardware revision
@ -51,13 +45,6 @@ void detectHardwareRevision(void)
    } else {
        hardwareRevision = AFF4_REV_2;
    }
-
-    // Check presence of brushed ESC's
-    if (IORead(MotorDetectPin)) {
-        hardwareMotorType = MOTOR_BRUSHLESS;
-    } else {
-        hardwareMotorType = MOTOR_BRUSHED;
-    }
 }

 void updateHardwareRevision(void)
--- a/src/main/target/ALIENFLIGHTF4/hardware_revision.h
+++ b/src/main/target/ALIENFLIGHTF4/hardware_revision.h
@ -22,14 +22,7 @@ typedef enum awf4HardwareRevision_t {
    AFF4_REV_2  // ICM-20602 (SPI), OpenSky RX (CC2510), Current Sensor (ACS712), SDCard Reader
 } awf4HardwareRevision_e;

-typedef enum awf4HardwareMotorType_t {
-    MOTOR_UNKNOWN = 0,
-    MOTOR_BRUSHED,
-    MOTOR_BRUSHLESS
-} awf4HardwareMotorType_e;
-
 extern uint8_t hardwareRevision;
-extern uint8_t hardwareMotorType;

 void updateHardwareRevision(void);
 void detectHardwareRevision(void);
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@ -21,7 +21,7 @@

 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PC13
-#define MOTOR_PIN               PB8
+#define BRUSHED_ESC_AUTODETECT

 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)

--- a/src/main/target/ANYFCF7/target.h
+++ b/src/main/target/ANYFCF7/target.h
@ -24,7 +24,7 @@
 #define USBD_PRODUCT_STRING "AnyFCF7"

 #define USE_DSHOT
-#define USE_ESC_TELEMETRY
+#define USE_ESC_SENSOR

 #define LED0   PB7
 #define LED1   PB6
--- a/src/main/target/BETAFLIGHTF3/target.h
+++ b/src/main/target/BETAFLIGHTF3/target.h
@ -44,7 +44,8 @@
 #define MPU_INT_EXTI                PC13
 #define USE_EXTI

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR
 #define REMAP_TIM16_DMA
 #define REMAP_TIM17_DMA

--- a/src/main/target/BLUEJAYF4/hardware_revision.c
+++ b/src/main/target/BLUEJAYF4/hardware_revision.c
@ -85,7 +85,8 @@ void updateHardwareRevision(void)
    /*
        if flash exists on PB3 then Rev1
    */
-    if (m25p16_init(IO_TAG(PB3))) {
+    flashConfig_t flashConfig = { .csTag = IO_TAG(PB3) };
+    if (m25p16_init(&flashConfig)) {
        hardwareRevision = BJF4_REV1;
    } else {
        IOInit(IOGetByTag(IO_TAG(PB3)), OWNER_FREE, 0);
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@ -144,7 +144,8 @@
 #define USE_ADC
 #define VBAT_ADC_PIN            PC3

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR
 #define LED_STRIP

 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
--- a/src/main/target/ALIENFLIGHTF1/hardware_revision.h
+++ b/src/main/target/ALIENFLIGHTF1/hardware_revision.h
@ -14,24 +14,23 @@
 * 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

-typedef enum awf1HardwareRevision_t {
-    AFF1_UNKNOWN = 0,
-    AFF1_REV_1, // MPU6050 (I2C)
-} awf1HardwareRevision_e;
+#include <stdbool.h>
+#include <stdint.h>

-typedef enum awf4HardwareMotorType_t {
-    MOTOR_UNKNOWN = 0,
-    MOTOR_BRUSHED,
-    MOTOR_BRUSHLESS
-} awf4HardwareMotorType_e;
+#include "platform.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_spi.h"
+#include "io/serial.h"

-extern uint8_t hardwareRevision;
-extern uint8_t hardwareMotorType;
+void targetBusInit(void)
+{
+    #if defined(USE_SPI) && defined(USE_SPI_DEVICE_1)
+        spiInit(SPIDEV_1);
+    #endif

-void updateHardwareRevision(void);
-void detectHardwareRevision(void);
-
-struct extiConfig_s;
-const struct extiConfig_s *selectMPUIntExtiConfigByHardwareRevision(void);
+    if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
+        serialRemovePort(SERIAL_PORT_USART3);
+        i2cInit(I2C_DEVICE);
+    }		
+}
--- a/src/main/target/CJMCU/target.h
+++ b/src/main/target/CJMCU/target.h
@ -19,6 +19,7 @@

 #define TARGET_BOARD_IDENTIFIER "CJM1" // CJMCU
 #define USE_HARDWARE_REVISION_DETECTION
+#define TARGET_BUS_INIT

 #define LED0                    PC14
 #define LED1                    PC13
--- a/src/main/target/DOGE/target.h
+++ b/src/main/target/DOGE/target.h
@ -125,7 +125,8 @@
 #define ENSURE_MPU_DATA_READY_IS_LOW

 #define LED_STRIP
-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM

--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@ -161,7 +161,8 @@

 #define USE_SERIAL_4WAY_BLHELI_INTERFACE

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR
 #define REMAP_TIM17_DMA

 #define TARGET_IO_PORTA         0xffff
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@ -175,7 +175,8 @@

 #define USE_SERIAL_4WAY_BLHELI_INTERFACE

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
--- a/src/main/target/FURYF7/target.h
+++ b/src/main/target/FURYF7/target.h
@ -24,7 +24,7 @@
 #define USBD_PRODUCT_STRING "FuryF7"

 #define USE_DSHOT
-#define USE_ESC_TELEMETRY
+#define USE_ESC_SENSOR

 #define LED0                    PB5
 #define LED1                    PB4
--- a/src/main/target/IMPULSERCF3/target.h
+++ b/src/main/target/IMPULSERCF3/target.h
@ -46,7 +46,8 @@
 #define USE_FLASHFS
 #define USE_FLASH_M25P16

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR
 #define REMAP_TIM17_DMA

 #define USE_VCP
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@ -23,7 +23,8 @@

 #define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_HARDWARE 6
--- a/src/main/target/LUX_RACE/target.h
+++ b/src/main/target/LUX_RACE/target.h
@ -46,7 +46,8 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define USE_SPI
 #define USE_SPI_DEVICE_1
--- a/src/main/target/MOTOLAB/target.h
+++ b/src/main/target/MOTOLAB/target.h
@ -95,7 +95,8 @@
 #define RSSI_ADC_PIN            PB2

 #define LED_STRIP
-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define SPEKTRUM_BIND
 // USART2, PB4
--- a/src/main/target/MULTIFLITEPICO/target.h
+++ b/src/main/target/MULTIFLITEPICO/target.h
@ -105,7 +105,8 @@
 #define CURRENT_METER_ADC_PIN   PA5
 #define RSSI_ADC_PIN            PB2

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR
 #define REMAP_TIM17_DMA

 // UART1 TX uses DMA1_Channel4, which is also used by dshot on motor 4
--- a/src/main/target/NAZE/config.c
+++ b/src/main/target/NAZE/config.c
@ -35,6 +35,8 @@

 void targetConfiguration(master_t *config)
 {
+    UNUSED(config);
+
 #ifdef BEEBRAIN
    // alternative defaults settings for Beebrain target
    config->motorConfig.motorPwmRate = 4000;
@ -88,9 +90,8 @@ void targetConfiguration(master_t *config)
    } else {
        config->beeperConfig.isOpenDrain = true;
        config->beeperConfig.isInverted = false;
+        config->flashConfig.csTag = IO_TAG_NONE;
    }
-#else
-    UNUSED(config);
 #endif
 }

--- a/src/main/target/NAZE/hardware_revision.c
+++ b/src/main/target/NAZE/hardware_revision.c
@ -127,3 +127,4 @@ const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
    }
 #endif
 }
+
--- a/src/main/target/ALIENFLIGHTF1/hardware_revision.c
+++ b/src/main/target/ALIENFLIGHTF1/hardware_revision.c
@ -17,43 +17,28 @@

 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>

 #include "platform.h"
-
-#include "build/build_config.h"
-
-#include "drivers/system.h"
-#include "drivers/io.h"
-#include "drivers/exti.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_spi.h"
+#include "io/serial.h"
 #include "hardware_revision.h"

-uint8_t hardwareRevision = AFF1_REV_1;
-uint8_t hardwareMotorType = MOTOR_UNKNOWN;
-
-static IO_t MotorDetectPin = IO_NONE;
-
-void detectHardwareRevision(void)
+void targetBusInit(void)
 {
-    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
-    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
+    #ifdef USE_SPI
+    #ifdef USE_SPI_DEVICE_2
+        spiInit(SPIDEV_2);
+    #endif
+    #endif

-    delayMicroseconds(10);  // allow configuration to settle
-
-    // Check presence of brushed ESC's
-    if (IORead(MotorDetectPin)) {
-        hardwareMotorType = MOTOR_BRUSHLESS;
+    if (hardwareRevision != NAZE32_SP) {
+        i2cInit(I2C_DEVICE);
+        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
    } else {
-        hardwareMotorType = MOTOR_BRUSHED;
+        if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
+            serialRemovePort(SERIAL_PORT_USART3);
+            i2cInit(I2C_DEVICE);
+        }		
    }
-}
-
-void updateHardwareRevision(void)
-{
-}
-
-const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
-{
-    return NULL;
-}
+}
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@ -19,6 +19,7 @@

 #define TARGET_CONFIG
 #define USE_HARDWARE_REVISION_DETECTION
+#define TARGET_BUS_INIT

 #define CLI_MINIMAL_VERBOSITY

@ -65,19 +66,14 @@
 #define USE_SPI_DEVICE_2

 #define NAZE_SPI_INSTANCE       SPI2
-#define NAZE_SPI_CS_GPIO        GPIOB
 #define NAZE_SPI_CS_PIN         PB12
-#define NAZE_CS_GPIO_CLK_PERIPHERAL RCC_APB2Periph_GPIOB

 // We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
-#define M25P16_CS_GPIO          NAZE_SPI_CS_GPIO
 #define M25P16_CS_PIN           NAZE_SPI_CS_PIN
 #define M25P16_SPI_INSTANCE     NAZE_SPI_INSTANCE

-#define MPU6500_CS_GPIO_CLK_PERIPHERAL  NAZE_CS_GPIO_CLK_PERIPHERAL
-#define MPU6500_CS_GPIO                 NAZE_SPI_CS_GPIO
-#define MPU6500_CS_PIN                  NAZE_SPI_CS_PIN
-#define MPU6500_SPI_INSTANCE            NAZE_SPI_INSTANCE
+#define MPU6500_CS_PIN          NAZE_SPI_CS_PIN
+#define MPU6500_SPI_INSTANCE    NAZE_SPI_INSTANCE

 #define USE_FLASHFS
 #define USE_FLASH_M25P16
--- a/src/main/target/NUCLEOF7/stm32f7xx_hal_conf.h
+++ b/src/main/target/NUCLEOF7/stm32f7xx_hal_conf.h
@ -0,0 +1,438 @@
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_conf.h
+  * @brief   HAL configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F7xx_HAL_CONF_H
+#define __STM32F7xx_HAL_CONF_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/* ########################## Module Selection ############################## */
+/**
+  * @brief This is the list of modules to be used in the HAL driver
+  */
+#define HAL_MODULE_ENABLED
+
+#define HAL_ADC_MODULE_ENABLED
+/* #define HAL_CAN_MODULE_ENABLED   */
+/* #define HAL_CEC_MODULE_ENABLED   */
+/* #define HAL_CRC_MODULE_ENABLED   */
+/* #define HAL_CRYP_MODULE_ENABLED   */
+/* #define HAL_DAC_MODULE_ENABLED   */
+/* #define HAL_DCMI_MODULE_ENABLED   */
+/* #define HAL_DMA2D_MODULE_ENABLED   */
+/* #define HAL_ETH_MODULE_ENABLED   */
+/* #define HAL_NAND_MODULE_ENABLED   */
+/* #define HAL_NOR_MODULE_ENABLED   */
+/* #define HAL_SRAM_MODULE_ENABLED   */
+/* #define HAL_SDRAM_MODULE_ENABLED   */
+/* #define HAL_HASH_MODULE_ENABLED   */
+/* #define HAL_I2S_MODULE_ENABLED   */
+/* #define HAL_IWDG_MODULE_ENABLED   */
+/* #define HAL_LPTIM_MODULE_ENABLED   */
+/* #define HAL_LTDC_MODULE_ENABLED   */
+/* #define HAL_QSPI_MODULE_ENABLED   */
+/* #define HAL_RNG_MODULE_ENABLED   */
+/* #define HAL_RTC_MODULE_ENABLED   */
+/* #define HAL_SAI_MODULE_ENABLED   */
+/* #define HAL_SD_MODULE_ENABLED   */
+/* #define HAL_SPDIFRX_MODULE_ENABLED   */
+#define HAL_SPI_MODULE_ENABLED
+#define HAL_TIM_MODULE_ENABLED
+#define HAL_UART_MODULE_ENABLED
+#define HAL_USART_MODULE_ENABLED
+/* #define HAL_IRDA_MODULE_ENABLED   */
+/* #define HAL_SMARTCARD_MODULE_ENABLED   */
+/* #define HAL_WWDG_MODULE_ENABLED   */
+#define HAL_PCD_MODULE_ENABLED
+/* #define HAL_HCD_MODULE_ENABLED   */
+/* #define HAL_DFSDM_MODULE_ENABLED   */
+/* #define HAL_DSI_MODULE_ENABLED   */
+/* #define HAL_JPEG_MODULE_ENABLED   */
+/* #define HAL_MDIOS_MODULE_ENABLED   */
+#define HAL_GPIO_MODULE_ENABLED
+#define HAL_DMA_MODULE_ENABLED
+#define HAL_RCC_MODULE_ENABLED
+#define HAL_FLASH_MODULE_ENABLED
+#define HAL_PWR_MODULE_ENABLED
+#define HAL_I2C_MODULE_ENABLED
+#define HAL_CORTEX_MODULE_ENABLED
+
+/* ########################## HSE/HSI Values adaptation ##################### */
+/**
+  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSE is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSE_VALUE)
+  #define HSE_VALUE    ((uint32_t)8000000U) /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+  #define HSE_STARTUP_TIMEOUT    ((uint32_t)100U)   /*!< Time out for HSE start up, in ms */
+#endif /* HSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief Internal High Speed oscillator (HSI) value.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSI is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSI_VALUE)
+  #define HSI_VALUE    ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+/**
+  * @brief Internal Low Speed oscillator (LSI) value.
+  */
+#if !defined  (LSI_VALUE)
+ #define LSI_VALUE  ((uint32_t)32000U)       /*!< LSI Typical Value in Hz*/
+#endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
+                                             The real value may vary depending on the variations
+                                             in voltage and temperature.  */
+/**
+  * @brief External Low Speed oscillator (LSE) value.
+  */
+#if !defined  (LSE_VALUE)
+ #define LSE_VALUE  ((uint32_t)32768U)    /*!< Value of the External Low Speed oscillator in Hz */
+#endif /* LSE_VALUE */
+
+#if !defined  (LSE_STARTUP_TIMEOUT)
+  #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000U)   /*!< Time out for LSE start up, in ms */
+#endif /* LSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief External clock source for I2S peripheral
+  *        This value is used by the I2S HAL module to compute the I2S clock source
+  *        frequency, this source is inserted directly through I2S_CKIN pad.
+  */
+#if !defined  (EXTERNAL_CLOCK_VALUE)
+  #define EXTERNAL_CLOCK_VALUE    ((uint32_t)12288000U) /*!< Value of the Internal oscillator in Hz*/
+#endif /* EXTERNAL_CLOCK_VALUE */
+
+/* Tip: To avoid modifying this file each time you need to use different HSE,
+   ===  you can define the HSE value in your toolchain compiler preprocessor. */
+
+/* ########################### System Configuration ######################### */
+/**
+  * @brief This is the HAL system configuration section
+  */
+#define  VDD_VALUE                    ((uint32_t)3300U) /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            ((uint32_t)0U) /*!< tick interrupt priority */
+#define  USE_RTOS                     0U
+#define  PREFETCH_ENABLE              0U
+#define  ART_ACCLERATOR_ENABLE        0U /* To enable instruction cache and prefetch */
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1 */
+
+/* ################## Ethernet peripheral configuration ##################### */
+
+/* Section 1 : Ethernet peripheral configuration */
+
+/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
+#define MAC_ADDR0   2U
+#define MAC_ADDR1   0U
+#define MAC_ADDR2   0U
+#define MAC_ADDR3   0U
+#define MAC_ADDR4   0U
+#define MAC_ADDR5   0U
+
+/* Definition of the Ethernet driver buffers size and count */
+#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
+#define ETH_RXBUFNB                    ((uint32_t)4U)       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_TXBUFNB                    ((uint32_t)4U)       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+
+/* Section 2: PHY configuration section */
+
+/* DP83848_PHY_ADDRESS Address*/
+#define DP83848_PHY_ADDRESS           0x01U
+/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
+#define PHY_RESET_DELAY                 ((uint32_t)0x000000FFU)
+/* PHY Configuration delay */
+#define PHY_CONFIG_DELAY                ((uint32_t)0x00000FFFU)
+
+#define PHY_READ_TO                     ((uint32_t)0x0000FFFFU)
+#define PHY_WRITE_TO                    ((uint32_t)0x0000FFFFU)
+
+/* Section 3: Common PHY Registers */
+
+#define PHY_BCR                         ((uint16_t)0x0000U)    /*!< Transceiver Basic Control Register   */
+#define PHY_BSR                         ((uint16_t)0x0001U)    /*!< Transceiver Basic Status Register    */
+
+#define PHY_RESET                       ((uint16_t)0x8000U)  /*!< PHY Reset */
+#define PHY_LOOPBACK                    ((uint16_t)0x4000U)  /*!< Select loop-back mode */
+#define PHY_FULLDUPLEX_100M             ((uint16_t)0x2100U)  /*!< Set the full-duplex mode at 100 Mb/s */
+#define PHY_HALFDUPLEX_100M             ((uint16_t)0x2000U)  /*!< Set the half-duplex mode at 100 Mb/s */
+#define PHY_FULLDUPLEX_10M              ((uint16_t)0x0100U)  /*!< Set the full-duplex mode at 10 Mb/s  */
+#define PHY_HALFDUPLEX_10M              ((uint16_t)0x0000U)  /*!< Set the half-duplex mode at 10 Mb/s  */
+#define PHY_AUTONEGOTIATION             ((uint16_t)0x1000U)  /*!< Enable auto-negotiation function     */
+#define PHY_RESTART_AUTONEGOTIATION     ((uint16_t)0x0200U)  /*!< Restart auto-negotiation function    */
+#define PHY_POWERDOWN                   ((uint16_t)0x0800U)  /*!< Select the power down mode           */
+#define PHY_ISOLATE                     ((uint16_t)0x0400U)  /*!< Isolate PHY from MII                 */
+
+#define PHY_AUTONEGO_COMPLETE           ((uint16_t)0x0020U)  /*!< Auto-Negotiation process completed   */
+#define PHY_LINKED_STATUS               ((uint16_t)0x0004U)  /*!< Valid link established               */
+#define PHY_JABBER_DETECTION            ((uint16_t)0x0002U)  /*!< Jabber condition detected            */
+
+/* Section 4: Extended PHY Registers */
+#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
+
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
+
+/* ################## SPI peripheral configuration ########################## */
+
+/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
+* Activated: CRC code is present inside driver
+* Deactivated: CRC code cleaned from driver
+*/
+
+#define USE_SPI_CRC                     0U
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include module's header file
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+  #include "stm32f7xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+  #include "stm32f7xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+
+#ifdef HAL_DMA_MODULE_ENABLED
+  #include "stm32f7xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+
+#ifdef HAL_CORTEX_MODULE_ENABLED
+  #include "stm32f7xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+  #include "stm32f7xx_hal_adc.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_CAN_MODULE_ENABLED
+  #include "stm32f7xx_hal_can.h"
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+  #include "stm32f7xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+  #include "stm32f7xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_CRYP_MODULE_ENABLED
+  #include "stm32f7xx_hal_cryp.h"
+#endif /* HAL_CRYP_MODULE_ENABLED */
+
+#ifdef HAL_DMA2D_MODULE_ENABLED
+  #include "stm32f7xx_hal_dma2d.h"
+#endif /* HAL_DMA2D_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+  #include "stm32f7xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_DCMI_MODULE_ENABLED
+  #include "stm32f7xx_hal_dcmi.h"
+#endif /* HAL_DCMI_MODULE_ENABLED */
+
+#ifdef HAL_ETH_MODULE_ENABLED
+  #include "stm32f7xx_hal_eth.h"
+#endif /* HAL_ETH_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+  #include "stm32f7xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+
+#ifdef HAL_SRAM_MODULE_ENABLED
+  #include "stm32f7xx_hal_sram.h"
+#endif /* HAL_SRAM_MODULE_ENABLED */
+
+#ifdef HAL_NOR_MODULE_ENABLED
+  #include "stm32f7xx_hal_nor.h"
+#endif /* HAL_NOR_MODULE_ENABLED */
+
+#ifdef HAL_NAND_MODULE_ENABLED
+  #include "stm32f7xx_hal_nand.h"
+#endif /* HAL_NAND_MODULE_ENABLED */
+
+#ifdef HAL_SDRAM_MODULE_ENABLED
+  #include "stm32f7xx_hal_sdram.h"
+#endif /* HAL_SDRAM_MODULE_ENABLED */
+
+#ifdef HAL_HASH_MODULE_ENABLED
+ #include "stm32f7xx_hal_hash.h"
+#endif /* HAL_HASH_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+ #include "stm32f7xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+ #include "stm32f7xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+ #include "stm32f7xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_LPTIM_MODULE_ENABLED
+ #include "stm32f7xx_hal_lptim.h"
+#endif /* HAL_LPTIM_MODULE_ENABLED */
+
+#ifdef HAL_LTDC_MODULE_ENABLED
+ #include "stm32f7xx_hal_ltdc.h"
+#endif /* HAL_LTDC_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+ #include "stm32f7xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_QSPI_MODULE_ENABLED
+ #include "stm32f7xx_hal_qspi.h"
+#endif /* HAL_QSPI_MODULE_ENABLED */
+
+#ifdef HAL_RNG_MODULE_ENABLED
+ #include "stm32f7xx_hal_rng.h"
+#endif /* HAL_RNG_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+ #include "stm32f7xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_SAI_MODULE_ENABLED
+ #include "stm32f7xx_hal_sai.h"
+#endif /* HAL_SAI_MODULE_ENABLED */
+
+#ifdef HAL_SD_MODULE_ENABLED
+ #include "stm32f7xx_hal_sd.h"
+#endif /* HAL_SD_MODULE_ENABLED */
+
+#ifdef HAL_SPDIFRX_MODULE_ENABLED
+ #include "stm32f7xx_hal_spdifrx.h"
+#endif /* HAL_SPDIFRX_MODULE_ENABLED */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+ #include "stm32f7xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+ #include "stm32f7xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+ #include "stm32f7xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+ #include "stm32f7xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+ #include "stm32f7xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+ #include "stm32f7xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+ #include "stm32f7xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+ #include "stm32f7xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+ #include "stm32f7xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */
+
+#ifdef HAL_DFSDM_MODULE_ENABLED
+ #include "stm32f7xx_hal_dfsdm.h"
+#endif /* HAL_DFSDM_MODULE_ENABLED */
+
+#ifdef HAL_DSI_MODULE_ENABLED
+ #include "stm32f7xx_hal_dsi.h"
+#endif /* HAL_DSI_MODULE_ENABLED */
+
+#ifdef HAL_JPEG_MODULE_ENABLED
+ #include "stm32f7xx_hal_jpeg.h"
+#endif /* HAL_JPEG_MODULE_ENABLED */
+
+#ifdef HAL_MDIOS_MODULE_ENABLED
+ #include "stm32f7xx_hal_mdios.h"
+#endif /* HAL_MDIOS_MODULE_ENABLED */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr: If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+  #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+  void assert_failed(uint8_t* file, uint32_t line);
+#else
+  #define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F7xx_HAL_CONF_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/src/main/target/NUCLEOF7/target.c
+++ b/src/main/target/NUCLEOF7/target.c
@ -0,0 +1,58 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/dma.h"
+
+#include "drivers/timer.h"
+
+#if defined(USE_DSHOT)
+// DSHOT TEST
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM12, IO_TAG(PB15), TIM_CHANNEL_2, TIM_USE_PWM | TIM_USE_PPM,   0,  GPIO_AF9_TIM12,  NULL,         0,             0  }, // S2_IN
+    { TIM8,  IO_TAG(PC6),  TIM_CHANNEL_1, TIM_USE_PWM,   0,  GPIO_AF3_TIM8,  NULL,         0,             0  }, // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_CHANNEL_2, TIM_USE_PWM,   0,  GPIO_AF3_TIM8,  NULL,         0,             0  }, // S4_IN
+    { TIM8,  IO_TAG(PC9),  TIM_CHANNEL_4, TIM_USE_PWM,   0,  GPIO_AF3_TIM8,  NULL,         0,             0  }, // S5_IN
+    { TIM8,  IO_TAG(PC8),  TIM_CHANNEL_3, TIM_USE_PWM,   0,  GPIO_AF3_TIM8,  NULL,         0,             0  }, // S6_IN
+
+    { TIM4,  IO_TAG(PB8),  TIM_CHANNEL_3, TIM_USE_MOTOR, 1,  GPIO_AF2_TIM4, DMA1_Stream7, DMA_CHANNEL_2, DMA1_ST7_HANDLER  }, // S10_OUT 1
+    { TIM2,  IO_TAG(PA3),  TIM_CHANNEL_4, TIM_USE_MOTOR, 1,  GPIO_AF1_TIM2, DMA1_Stream6, DMA_CHANNEL_3, DMA1_ST6_HANDLER  }, // S1_OUT  4
+    { TIM3,  IO_TAG(PB5),  TIM_CHANNEL_2, TIM_USE_MOTOR, 1,  GPIO_AF2_TIM3, DMA1_Stream5, DMA_CHANNEL_5, DMA1_ST5_HANDLER  }, // S4_OUT
+    { TIM4,  IO_TAG(PB9),  TIM_CHANNEL_4, TIM_USE_MOTOR, 1,  GPIO_AF2_TIM4,  NULL,         0,             0  }, // S5_OUT  3
+    { TIM9,  IO_TAG(PE6),  TIM_CHANNEL_2, TIM_USE_MOTOR, 1,  GPIO_AF3_TIM9,  NULL,         0,             0  }, // S3_OUT
+    { TIM3,  IO_TAG(PB4),  TIM_CHANNEL_1, TIM_USE_MOTOR, 1,  GPIO_AF2_TIM3,  NULL,         0,             0  }, // S9_OUT
+};
+#else
+// STANDARD LAYOUT
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM12, IO_TAG(PB15), TIM_CHANNEL_2, TIM_USE_PWM | TIM_USE_PPM, 0, GPIO_AF9_TIM12, NULL, 0, 0 }, // S2_IN
+    { TIM8,  IO_TAG(PC6),  TIM_CHANNEL_1, TIM_USE_PWM, 0, GPIO_AF3_TIM8, NULL, 0, 0 }, // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_CHANNEL_2, TIM_USE_PWM, 0, GPIO_AF3_TIM8, NULL, 0, 0 }, // S4_IN
+    { TIM8,  IO_TAG(PC9),  TIM_CHANNEL_4, TIM_USE_PWM, 0, GPIO_AF3_TIM8, NULL, 0, 0 }, // S5_IN
+    { TIM8,  IO_TAG(PC8),  TIM_CHANNEL_3, TIM_USE_PWM, 0, GPIO_AF3_TIM8, NULL, 0, 0 }, // S6_IN
+
+    { TIM4,  IO_TAG(PB8),  TIM_CHANNEL_3, TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF2_TIM4, DMA1_Stream7, DMA_CHANNEL_2, DMA1_ST7_HANDLER  }, // S10_OUT 1
+    { TIM4,  IO_TAG(PB9),  TIM_CHANNEL_4, TIM_USE_MOTOR, 1, GPIO_AF2_TIM4, NULL, 0, 0 }, // S5_OUT  3
+    { TIM2,  IO_TAG(PA3),  TIM_CHANNEL_4, TIM_USE_MOTOR, 1, GPIO_AF1_TIM2, NULL, 0, 0 }, // S1_OUT  4
+    { TIM9,  IO_TAG(PE6),  TIM_CHANNEL_2, TIM_USE_MOTOR, 1, GPIO_AF3_TIM9, NULL, 0, 0 }, // S3_OUT
+    { TIM3,  IO_TAG(PB5),  TIM_CHANNEL_2, TIM_USE_MOTOR, 1, GPIO_AF2_TIM3, NULL, 0, 0 }, // S4_OUT
+    { TIM3,  IO_TAG(PB4),  TIM_CHANNEL_1, TIM_USE_MOTOR, 1, GPIO_AF2_TIM3, NULL, 0, 0 }, // S9_OUT
+};
+#endif
--- a/src/main/target/NUCLEOF7/target.h
+++ b/src/main/target/NUCLEOF7/target.h
@ -0,0 +1,163 @@
+/*
+ * 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 "NUC7"
+
+#define CONFIG_START_FLASH_ADDRESS (0x080C0000)
+
+#define USBD_PRODUCT_STRING "NucleoF7"
+
+//#define USE_DSHOT
+//#define USE_ESC_TELEMETRY
+
+#define LED0   PB7
+#define LED1   PB14
+
+//#define BEEPER   PB2
+//#define BEEPER_INVERTED
+
+#define ACC
+#define USE_FAKE_ACC
+#define USE_ACC_MPU6050
+#define ACC_MPU6050_ALIGN CW270_DEG
+
+#define GYRO
+#define USE_FAKE_GYRO
+#define USE_GYRO_MPU6050
+#define GYRO_MPU6050_ALIGN CW270_DEG
+
+// MPU6050 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define MPU_INT_EXTI PB15
+#define USE_EXTI
+
+#define MAG
+#define USE_FAKE_MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
+
+#define BARO
+#define USE_FAKE_BARO
+#define USE_BARO_MS5611
+
+#define USABLE_TIMER_CHANNEL_COUNT 16
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+
+//#define USE_UART1
+//#define UART1_RX_PIN PA10
+//#define UART1_TX_PIN PA9
+
+#define USE_UART2
+#define UART2_RX_PIN PD6
+#define UART2_TX_PIN PD5
+
+#define USE_UART3
+#define UART3_RX_PIN PD9
+#define UART3_TX_PIN PD8
+
+#define USE_UART4
+#define UART4_RX_PIN PC11
+#define UART4_TX_PIN PC10
+
+#define USE_UART5
+#define UART5_RX_PIN PD2
+#define UART5_TX_PIN PC12
+
+#define USE_UART6
+#define UART6_RX_PIN PC7
+#define UART6_TX_PIN PC6
+
+#define USE_UART7
+#define UART7_RX_PIN PE7
+#define UART7_TX_PIN PE8
+
+#define USE_UART8
+#define UART8_RX_PIN PE0
+#define UART8_TX_PIN PE1
+
+#define SERIAL_PORT_COUNT 8 //VCP, USART2, USART3, UART4, UART5, USART6, USART7, USART8
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_4
+
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define SPI4_NSS_PIN            PE11
+#define SPI4_SCK_PIN            PE12
+#define SPI4_MISO_PIN           PE13
+#define SPI4_MOSI_PIN           PE14
+
+#define USE_SDCARD
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN                   PF14
+#define SDCARD_DETECT_EXTI_LINE             EXTI_Line14
+#define SDCARD_DETECT_EXTI_PIN_SOURCE       EXTI_PinSource14
+#define SDCARD_DETECT_EXTI_PORT_SOURCE      EXTI_PortSourceGPIOF
+#define SDCARD_DETECT_EXTI_IRQn             EXTI9_15_IRQn
+
+#define SDCARD_SPI_INSTANCE                 SPI4
+#define SDCARD_SPI_CS_PIN                   SPI4_NSS_PIN
+
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 422kHz
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 8 // 27MHz
+
+#define SDCARD_DMA_CHANNEL_TX               DMA2_Stream1
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF1_5
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA2
+#define SDCARD_DMA_CHANNEL                  DMA_CHANNEL_4
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+//#define I2C_DEVICE_EXT (I2CDEV_2)
+
+#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+
+#define USE_ADC
+#define VBAT_ADC_PIN                PA3
+#define CURRENT_METER_ADC_PIN       PC0
+#define RSSI_ADC_GPIO_PIN           PC3
+
+#define LED_STRIP
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+#define TARGET_IO_PORTF 0xffff
+
+#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) | TIM_N(10) | TIM_N(11))
--- a/src/main/target/NUCLEOF7/target.mk
+++ b/src/main/target/NUCLEOF7/target.mk
@ -0,0 +1,12 @@
+F7X6XG_TARGETS += $(TARGET)
+FEATURES       += SDCARD VCP
+
+TARGET_SRC = \
+            drivers/accgyro_fake.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_fake.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_fake.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_hal.c
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@ -133,7 +133,8 @@
 // Divide to under 25MHz for normal operation:
 #define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     2

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 // DSHOT output 4 uses DMA1_Channel5, so don't use it for the SDCARD until we find an alternative
 #ifndef USE_DSHOT
@ -176,10 +177,8 @@
 #define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX)

 #define BUTTONS
-#define BUTTON_A_PORT           GPIOB
-#define BUTTON_A_PIN            Pin_1
-#define BUTTON_B_PORT           GPIOB
-#define BUTTON_B_PIN            Pin_0
+#define BUTTON_A_PIN            PB1
+#define BUTTON_B_PIN            PB0

 //#define AVOID_UART3_FOR_PWM_PPM // Disable this for using UART3

--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@ -160,7 +160,8 @@
 #define VBAT_ADC_PIN            PC2
 //#define RSSI_ADC_PIN            PA0

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define LED_STRIP

--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@ -32,10 +32,10 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,   0, 0),  // S5_IN
    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,   0, 0),  // S6_IN
 #ifdef REVOLT
-    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_MOTOR, 1, 0),  // S4_OUT D1_ST1
-    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR, 1, 0),  // S2_OUT D1_ST2
-    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR, 1, 0),  // S1_OUT D1_ST7
    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_MOTOR, 1, 1),  // S3_OUT D1_ST6
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR, 1, 0),  // S2_OUT D1_ST2
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_MOTOR, 1, 0),  // S4_OUT D1_ST1
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR, 1, 0),  // S1_OUT D1_ST7
    DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,   0, 0),  // LED for REVOLT D1_ST0
 #else
    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR, 1, 0),  // S1_OUT D1_ST7
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@ -20,43 +20,44 @@
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)

 #if defined(AIRBOTF4)
-    #define TARGET_BOARD_IDENTIFIER "AIR4"
-    #define USBD_PRODUCT_STRING     "AirbotF4"
+#define TARGET_BOARD_IDENTIFIER "AIR4"
+#define USBD_PRODUCT_STRING     "AirbotF4"

 #elif defined(REVOLT)
-    #define TARGET_BOARD_IDENTIFIER "RVLT"
-    #define USBD_PRODUCT_STRING     "Revolt"
+#define TARGET_BOARD_IDENTIFIER "RVLT"
+#define USBD_PRODUCT_STRING     "Revolt"

 #elif defined(SOULF4)
-    #define TARGET_BOARD_IDENTIFIER "SOUL"
-    #define USBD_PRODUCT_STRING     "DemonSoulF4"
+#define TARGET_BOARD_IDENTIFIER "SOUL"
+#define USBD_PRODUCT_STRING     "DemonSoulF4"

 #else
-    #define TARGET_BOARD_IDENTIFIER "REVO"
-    #define USBD_PRODUCT_STRING     "Revolution"
+#define TARGET_BOARD_IDENTIFIER "REVO"
+#define USBD_PRODUCT_STRING     "Revolution"

-    #ifdef OPBL
-        #define USBD_SERIALNUMBER_STRING "0x8020000"
-    #endif
+#ifdef OPBL
+#define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif

 #endif

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define LED0                    PB5
 // Disable LED1, conflicts with AirbotF4/Flip32F4/Revolt beeper
 #if defined(AIRBOTF4)
-    #define BEEPER                  PB4
-    #define BEEPER_INVERTED
+#define BEEPER                  PB4
+#define BEEPER_INVERTED
 #elif defined(REVOLT)
-    #define BEEPER                  PB4
+#define BEEPER                  PB4
 #elif defined(SOULF4)
-    #define BEEPER                  PB6
-    #define BEEPER_INVERTED
+#define BEEPER                  PB6
+#define BEEPER_INVERTED
 #else
-    #define LED1                    PB4
-    // Leave beeper here but with none as io - so disabled unless mapped.
-    #define BEEPER                  NONE
+#define LED1                    PB4
+// Leave beeper here but with none as io - so disabled unless mapped.
+#define BEEPER                  NONE
 #endif

 // PC0 used as inverter select GPIO
@ -70,30 +71,40 @@
 #define MPU6500_SPI_INSTANCE    SPI1

 #if defined(SOULF4)
-    #define ACC
-    #define USE_ACC_SPI_MPU6000
-    #define GYRO_MPU6000_ALIGN      CW180_DEG
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW180_DEG

-    #define GYRO
-    #define USE_GYRO_SPI_MPU6000
-    #define ACC_MPU6000_ALIGN       CW180_DEG
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW180_DEG
+
+#elif defined(REVOLT)
+
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW0_DEG
+
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW0_DEG

 #else
-    #define ACC
-    #define USE_ACC_SPI_MPU6000
-    #define GYRO_MPU6000_ALIGN      CW270_DEG
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW270_DEG

-    #define USE_ACC_MPU6500
-    #define USE_ACC_SPI_MPU6500
-    #define ACC_MPU6500_ALIGN       CW270_DEG
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW270_DEG

-    #define GYRO
-    #define USE_GYRO_SPI_MPU6000
-    #define ACC_MPU6000_ALIGN       CW270_DEG
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW270_DEG

-    #define USE_GYRO_MPU6500
-    #define USE_GYRO_SPI_MPU6500
-    #define GYRO_MPU6500_ALIGN      CW270_DEG
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW270_DEG

 #endif

@ -103,12 +114,12 @@
 #define USE_MPU_DATA_READY_SIGNAL

 #if !defined(AIRBOTF4) && !defined(REVOLT) && !defined(SOULF4)
-    #define MAG
-    #define USE_MAG_HMC5883
-    #define MAG_HMC5883_ALIGN       CW90_DEG
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW90_DEG

-    #define BARO
-    #define USE_BARO_MS5611
+#define BARO
+#define USE_BARO_MS5611

 #endif

--- a/src/main/target/SPARKY2/target.h
+++ b/src/main/target/SPARKY2/target.h
@ -35,7 +35,8 @@
 #define INVERTER                PC6
 #define INVERTER_USART          USART6

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 // MPU9250 interrupt
 #define USE_EXTI
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@ -98,6 +98,7 @@
 #define SOFTSERIAL_2_TIMER TIM3
 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+#define SONAR_SOFTSERIAL2_EXCLUSIVE

 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
@ -115,7 +116,8 @@
 #define CURRENT_METER_ADC_PIN   PA5
 #define RSSI_ADC_PIN            PB2

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR
 #define REMAP_TIM17_DMA

 // UART1 TX uses DMA1_Channel4, which is also used by dshot on motor 4
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@ -21,6 +21,8 @@

 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT

+#define BRUSHED_ESC_AUTODETECT
+
 #define LED0                    PB8

 #define BEEPER                  PC15
@ -35,7 +37,8 @@
 #define USE_MAG_DATA_READY_SIGNAL
 #define ENSURE_MAG_DATA_READY_IS_HIGH

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define GYRO
 #define USE_GYRO_SPI_MPU6500
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@ -88,6 +88,7 @@
 #define SOFTSERIAL_1_TIMER TIM2
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 9 // PA0 / PAD3
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 10 // PA1 / PAD4
+#define SONAR_SOFTSERIAL1_EXCLUSIVE

 #define USE_I2C
 #define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
@ -129,13 +130,6 @@
 #define RSSI_ADC_PIN                PB2

 #define LED_STRIP
-#define WS2811_PIN                      PA8
-#define WS2811_TIMER                    TIM1
-#define WS2811_DMA_CHANNEL              DMA1_Channel2
-#define WS2811_IRQ                      DMA1_Channel2_IRQn
-#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
-#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
-#define WS2811_TIMER_GPIO_AF            GPIO_AF_6

 #define TRANSPONDER

@ -147,10 +141,8 @@
 #define DEFAULT_FEATURES        FEATURE_BLACKBOX

 #define BUTTONS
-#define BUTTON_A_PORT           GPIOB
-#define BUTTON_A_PIN            Pin_1
-#define BUTTON_B_PORT           GPIOB
-#define BUTTON_B_PIN            Pin_0
+#define BUTTON_A_PIN            PB1
+#define BUTTON_B_PIN            PB0

 #define SPEKTRUM_BIND
 // USART3,
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@ -169,7 +169,8 @@
 #define RSSI_ADC_PIN            PC2
 #define EXTERNAL1_ADC_PIN       PC3

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define LED_STRIP

--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@ -71,7 +71,7 @@
 #define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-
+#define SONAR_SOFTSERIAL1_EXCLUSIVE

 #define USE_I2C
 #define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
@ -101,7 +101,8 @@
 #define CURRENT_METER_ADC_PIN   PA5
 #define RSSI_ADC_PIN            PB2

-#define USE_ESC_TELEMETRY
+#define USE_DSHOT
+#define USE_ESC_SENSOR

 #define REMAP_TIM17_DMA
 // UART1 TX uses DMA1_Channel4, which is also used by dshot on motor 4
--- a/src/main/target/link/stm32_flash_f746.ld
+++ b/src/main/target/link/stm32_flash_f746.ld
@ -0,0 +1,28 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash_f746.ld
+**
+**  Abstract    : Linker script for STM32F746VGTx Device with
+**                1024KByte FLASH, 320KByte RAM
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Specify the memory areas */
+MEMORY
+{
+    FLASH (rx)        : ORIGIN = 0x08000000, LENGTH = 768K
+    FLASH_CONFIG (r)  : ORIGIN = 0x080C0000, LENGTH = 256K
+
+    TCM (rwx)         : ORIGIN = 0x20000000, LENGTH = 64K
+    RAM (rwx)         : ORIGIN = 0x20010000, LENGTH = 256K
+    MEMORY_B1 (rx)    : ORIGIN = 0x60000000, LENGTH = 0K
+}
+/* note CCM could be used for stack */
+REGION_ALIAS("STACKRAM", TCM)
+
+INCLUDE "stm32_flash.ld"
--- a/src/main/telemetry/esc_telemetry.c
+++ b/src/main/telemetry/esc_telemetry.c
@ -1,312 +0,0 @@
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-
-#include <platform.h>
-
-#include "fc/config.h"
-#include "config/feature.h"
-#include "config/config_master.h"
-
-#include "common/utils.h"
-
-#include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
-#include "drivers/pwm_output.h"
-
-#include "io/serial.h"
-
-#include "flight/mixer.h"
-
-#include "sensors/battery.h"
-
-#include "esc_telemetry.h"
-
-#include "build/debug.h"
-
-/*
-KISS ESC TELEMETRY PROTOCOL
---------------------------
-
-One transmission will have 10 times 8-bit bytes sent with 115200 baud and 3.6V.
-
-Byte 0: Temperature
-Byte 1: Voltage high byte
-Byte 2: Voltage low byte
-Byte 3: Current high byte
-Byte 4: Current low byte
-Byte 5: Consumption high byte
-Byte 6: Consumption low byte
-Byte 7: Rpm high byte
-Byte 8: Rpm low byte
-Byte 9: 8-bit CRC
-
-*/
-
-/*
-DEBUG INFORMATION
-----------------
-
-set debug_mode = DEBUG_ESC_TELEMETRY in cli
-
-0: current motor index requested
-1: number of timeouts
-2: voltage
-3: current
-*/
-
-#ifdef USE_DSHOT
-
-typedef struct {
-    bool skipped;
-    int16_t temperature;
-    int16_t voltage;
-    int16_t current;
-    int16_t consumption;
-    int16_t rpm;
-} esc_telemetry_t;
-
-typedef enum {
-    ESC_TLM_FRAME_PENDING = 1 << 0,     // 1
-    ESC_TLM_FRAME_COMPLETE = 1 << 1     // 2
-} escTlmFrameState_t;
-
-typedef enum {
-    ESC_TLM_TRIGGER_WAIT = 0,
-    ESC_TLM_TRIGGER_READY = 1 << 0,     // 1
-    ESC_TLM_TRIGGER_PENDING = 1 << 1    // 2
-} escTlmTriggerState_t;
-
-#define ESC_TLM_BAUDRATE 115200
-#define ESC_TLM_BUFFSIZE 10
-#define ESC_BOOTTIME 5000               // 5 seconds
-#define ESC_REQUEST_TIMEOUT 100         // 100 ms (data transfer takes only 900us)
-
-static bool tlmFrameDone = false;
-static uint8_t tlm[ESC_TLM_BUFFSIZE] = { 0, };
-static uint8_t tlmFramePosition = 0;
-static serialPort_t *escTelemetryPort = NULL;
-static esc_telemetry_t escTelemetryData[MAX_SUPPORTED_MOTORS];
-static uint32_t escTriggerTimestamp = -1;
-static uint32_t escTriggerLastTimestamp = -1;
-static uint8_t timeoutRetryCount = 0;
-
-static uint8_t escTelemetryMotor = 0;      // motor index
-static bool escTelemetryEnabled = false;
-static escTlmTriggerState_t escTelemetryTriggerState = ESC_TLM_TRIGGER_WAIT;
-
-static int16_t escVbat = 0;
-static int16_t escCurrent = 0;
-static int16_t escConsumption = 0;
-
-static void escTelemetryDataReceive(uint16_t c);
-static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed);
-static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen);
-static void selectNextMotor(void);
-
-bool isEscTelemetryActive(void)
-{
-    return escTelemetryEnabled;
-}
-
-int16_t getEscTelemetryVbat(void)
-{
-    return escVbat / 10;
-}
-
-int16_t getEscTelemetryCurrent(void)
-{
-    return escCurrent;
-}
-
-int16_t getEscTelemetryConsumption(void)
-{
-    return escConsumption;
-}
-
-bool escTelemetryInit(void)
-{
-    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_ESC);
-    if (!portConfig) {
-        return false;
-    }
-
-    portOptions_t options = (SERIAL_NOT_INVERTED);
-
-    // Initialize serial port
-    escTelemetryPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_ESC, escTelemetryDataReceive, ESC_TLM_BAUDRATE, MODE_RX, options);
-
-    if (escTelemetryPort) {
-        escTelemetryEnabled = true;
-        batteryConfig()->currentMeterType = CURRENT_SENSOR_ESC;
-        batteryConfig()->batteryMeterType = BATTERY_SENSOR_ESC;
-    }
-
-    return escTelemetryPort != NULL;
-}
-
-void freeEscTelemetryPort(void)
-{
-    closeSerialPort(escTelemetryPort);
-    escTelemetryPort = NULL;
-    escTelemetryEnabled = false;
-}
-
-// Receive ISR callback
-static void escTelemetryDataReceive(uint16_t c)
-{
-    // KISS ESC sends some data during startup, ignore this for now (maybe future use)
-    // startup data could be firmware version and serialnumber
-
-    if (escTelemetryTriggerState == ESC_TLM_TRIGGER_WAIT) return;
-
-    tlm[tlmFramePosition] = (uint8_t)c;
-
-    if (tlmFramePosition == ESC_TLM_BUFFSIZE - 1) {
-        tlmFrameDone = true;
-        tlmFramePosition = 0;
-    } else {
-        tlmFramePosition++;
-    }
-}
-
-uint8_t escTelemetryFrameStatus(void)
-{
-    uint8_t frameStatus = ESC_TLM_FRAME_PENDING;
-    uint16_t chksum, tlmsum;
-
-    if (!tlmFrameDone) {
-        return frameStatus;
-    }
-
-    tlmFrameDone = false;
-
-    // Get CRC8 checksum
-    chksum = get_crc8(tlm, ESC_TLM_BUFFSIZE - 1);
-    tlmsum = tlm[ESC_TLM_BUFFSIZE - 1];     // last byte contains CRC value
-
-    if (chksum == tlmsum) {
-        escTelemetryData[escTelemetryMotor].skipped = false;
-        escTelemetryData[escTelemetryMotor].temperature = tlm[0];
-        escTelemetryData[escTelemetryMotor].voltage = tlm[1] << 8 | tlm[2];
-        escTelemetryData[escTelemetryMotor].current = tlm[3] << 8 | tlm[4];
-        escTelemetryData[escTelemetryMotor].consumption = tlm[5] << 8 | tlm[6];
-        escTelemetryData[escTelemetryMotor].rpm = tlm[7] << 8 | tlm[8];
-
-        frameStatus = ESC_TLM_FRAME_COMPLETE;
-    }
-
-    return frameStatus;
-}
-
-void escTelemetryProcess(timeUs_t currentTimeUs)
-{
-    const timeMs_t currentTimeMs = currentTimeUs / 1000;
-
-    if (!escTelemetryEnabled) {
-        return;
-    }
-
-    // Wait period of time before requesting telemetry (let the system boot first)
-    if (millis() < ESC_BOOTTIME) {
-        return;
-    }
-    else if (escTelemetryTriggerState == ESC_TLM_TRIGGER_WAIT) {
-        // Ready for starting requesting telemetry
-        escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
-        escTelemetryMotor = 0;
-        escTriggerTimestamp = currentTimeMs;
-        escTriggerLastTimestamp = escTriggerTimestamp;
-    }
-    else if (escTelemetryTriggerState == ESC_TLM_TRIGGER_READY) {
-        if (debugMode == DEBUG_ESC_TELEMETRY) debug[0] = escTelemetryMotor+1;
-
-        motorDmaOutput_t * const motor = getMotorDmaOutput(escTelemetryMotor);
-        motor->requestTelemetry = true;
-        escTelemetryTriggerState = ESC_TLM_TRIGGER_PENDING;
-    }
-
-    if (escTriggerTimestamp + ESC_REQUEST_TIMEOUT < currentTimeMs) {
-        // ESC did not repond in time, retry
-        timeoutRetryCount++;
-        escTriggerTimestamp = currentTimeMs;
-        escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
-
-        if (timeoutRetryCount == 4) {
-            // Not responding after 3 times, skip motor
-            escTelemetryData[escTelemetryMotor].skipped = true;
-            selectNextMotor();
-        }
-
-        if (debugMode == DEBUG_ESC_TELEMETRY) debug[1]++;
-    }
-
-    // Get received frame status
-    uint8_t state = escTelemetryFrameStatus();
-
-    if (state == ESC_TLM_FRAME_COMPLETE) {
-        // Wait until all ESCs are processed
-        if (escTelemetryMotor == getMotorCount()-1) {
-            escCurrent = 0;
-            escConsumption = 0;
-            escVbat = 0;
-
-            for (int i = 0; i < getMotorCount(); i++) {
-                if (!escTelemetryData[i].skipped) {
-                    escVbat =  i > 0 ? ((escVbat + escTelemetryData[i].voltage) / 2) : escTelemetryData[i].voltage;
-                    escCurrent = escCurrent + escTelemetryData[i].current;
-                    escConsumption = escConsumption + escTelemetryData[i].consumption;
-                }
-            }
-        }
-
-        if (debugMode == DEBUG_ESC_TELEMETRY) debug[2] = escVbat;
-        if (debugMode == DEBUG_ESC_TELEMETRY) debug[3] = escCurrent;
-
-        selectNextMotor();
-        escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
-    }
-
-    if (escTriggerLastTimestamp + 10000 < currentTimeMs) {
-        // ESCs did not respond for 10 seconds
-        // Disable ESC telemetry and fallback to onboard vbat sensor
-        freeEscTelemetryPort();
-        escVbat = 0;
-        escCurrent = 0;
-        escConsumption = 0;
-    }
-}
-
-static void selectNextMotor(void)
-{
-    escTelemetryMotor++;
-    if (escTelemetryMotor == getMotorCount()) {
-        escTelemetryMotor = 0;
-    }
-    escTriggerTimestamp = millis();
-    escTriggerLastTimestamp = escTriggerTimestamp;
-}
-
-//-- CRC
-
-static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed)
-{
-    uint8_t crc_u = crc;
-    crc_u ^= crc_seed;
-
-    for (int i=0; i<8; i++) {
-        crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
-    }
-
-    return (crc_u);
-}
-
-static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
-{
-    uint8_t crc = 0;
-    for(int i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc);
-    return (crc);
-}
-
-#endif
--- a/src/main/telemetry/esc_telemetry.h
+++ b/src/main/telemetry/esc_telemetry.h
@ -1,12 +0,0 @@
-#pragma once
-
-#include "common/time.h"
-
-uint8_t escTelemetryFrameStatus(void);
-bool escTelemetryInit(void);
-bool isEscTelemetryActive(void);
-int16_t getEscTelemetryVbat(void);
-int16_t getEscTelemetryCurrent(void);
-int16_t getEscTelemetryConsumption(void);
-
-void escTelemetryProcess(timeUs_t currentTimeUs);
--- a/src/main/telemetry/frsky.c
+++ b/src/main/telemetry/frsky.c
@ -529,7 +529,7 @@ void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
        sendTemperature1();
        sendThrottleOrBatterySizeAsRpm(rxConfig, deadband3d_throttle);

-        if ((feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) && batteryCellCount > 0) {
+        if ((feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) && batteryCellCount > 0) {
            sendVoltage();
            sendVoltageAmp();
            sendAmperage();
--- a/src/main/telemetry/smartport.c
+++ b/src/main/telemetry/smartport.c
@ -646,7 +646,7 @@ void handleSmartPortTelemetry(void)
                }
                break;
            case FSSP_DATAID_CURRENT    :
-                if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
+                if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_SENSOR)) {
                    smartPortSendPackage(id, amperage / 10); // given in 10mA steps, unknown requested unit
                    smartPortHasRequest = 0;
                }
@ -659,7 +659,7 @@ void handleSmartPortTelemetry(void)
                }
                break;
            case FSSP_DATAID_FUEL       :
-                if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
+                if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_SENSOR)) {
                    smartPortSendPackage(id, mAhDrawn); // given in mAh, unknown requested unit
                    smartPortHasRequest = 0;
                }