From 4e529642d159136bd6063d17548ee47df5347df2 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Thu, 13 Oct 2016 22:03:37 +1100
Subject: [PATCH 1/6] Initial implementation of DSHOT protocol (600 and 150)

---
 src/main/drivers/pwm_output.c       |  67 ++++++---
 src/main/drivers/pwm_output.h       |  37 ++++-
 src/main/drivers/pwm_stm32f3xx.c    | 200 ++++++++++++++++++++++++++
 src/main/drivers/pwm_stm32f4xx.c    | 216 ++++++++++++++++++++++++++++
 src/main/drivers/timer.c            |  18 +--
 src/main/drivers/timer.h            |  11 ++
 src/main/drivers/timer_stm32f10x.c  |   6 +
 src/main/drivers/timer_stm32f30x.c  |   4 +
 src/main/drivers/timer_stm32f4xx.c  |  48 +++++++
 src/main/flight/mixer.c             |  36 ++---
 src/main/flight/mixer.h             |   4 +-
 src/main/io/serial_cli.c            |   5 +-
 src/main/main.c                     |   8 +-
 src/main/target/BLUEJAYF4/target.c  |  17 +--
 src/main/target/BLUEJAYF4/target.h  |   1 +
 src/main/target/BLUEJAYF4/target.mk |   1 +
 src/main/target/KISSFC/target.c     |  25 ++--
 src/main/target/KISSFC/target.h     |   2 +
 src/main/target/KISSFC/target.mk    |   3 +-
 src/main/target/REVO/target.c       |  25 ++--
 src/main/target/REVO/target.h       |   2 +
 src/main/target/REVO/target.mk      |   1 +
 22 files changed, 637 insertions(+), 100 deletions(-)
 create mode 100644 src/main/drivers/pwm_stm32f3xx.c
 create mode 100644 src/main/drivers/pwm_stm32f4xx.c

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index af832c00e..82a286417 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -29,6 +29,7 @@
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
 
 static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
+static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
 
 #ifdef USE_SERVOS
 static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
@@ -153,7 +154,7 @@ void pwmEnableMotors(void)
     pwmMotorsEnabled = true;
 }
 
-void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
+static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
     for (int index = 0; index < motorCount; index++) {
         bool overflowed = false;
@@ -173,40 +174,59 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
     }
 }
 
+void pwmCompleteMotorUpdate(uint8_t motorCount)
+{
+    if (pwmCompleteWritePtr) {
+        pwmCompleteWritePtr(motorCount);
+    }
+}
+
 void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
 {
     uint32_t timerMhzCounter;
     pwmWriteFuncPtr pwmWritePtr;
     bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
-
+    bool isDigital = false;
+    
     switch (motorConfig->motorPwmProtocol) {
     default:
-    case (PWM_TYPE_ONESHOT125):
+    case PWM_TYPE_ONESHOT125:
         timerMhzCounter = ONESHOT125_TIMER_MHZ;
         pwmWritePtr = pwmWriteOneShot125;
         break;
-    case (PWM_TYPE_ONESHOT42):
+    case PWM_TYPE_ONESHOT42:
         timerMhzCounter = ONESHOT42_TIMER_MHZ;
         pwmWritePtr = pwmWriteOneShot42;
         break;
-    case (PWM_TYPE_MULTISHOT):
+    case PWM_TYPE_MULTISHOT:
         timerMhzCounter = MULTISHOT_TIMER_MHZ;
         pwmWritePtr = pwmWriteMultiShot;
         break;
-    case (PWM_TYPE_BRUSHED):
+    case PWM_TYPE_BRUSHED:
         timerMhzCounter = PWM_BRUSHED_TIMER_MHZ;
         pwmWritePtr = pwmWriteBrushed;
         useUnsyncedPwm = true;
         idlePulse = 0;
         break;
-    case (PWM_TYPE_STANDARD):
+    case PWM_TYPE_STANDARD:
         timerMhzCounter = PWM_TIMER_MHZ;
         pwmWritePtr = pwmWriteStandard;
         useUnsyncedPwm = true;
         idlePulse = 0;
         break;
+#ifdef USE_DSHOT
+    case PWM_TYPE_DSHOT600:
+    case PWM_TYPE_DSHOT150:
+        pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
+        isDigital = true;
+        break;
+#endif
     }
 
+    if (!useUnsyncedPwm && !isDigital) {
+        pwmCompleteWritePtr = pwmCompleteOneshotMotorUpdate;
+    }
+        
     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
         const ioTag_t tag = motorConfig->ioTags[motorIndex];
         
@@ -214,30 +234,43 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
             break;
         }
 
+        const timerHardware_t *timerHardware = timerGetByTag(tag, TIMER_OUTPUT_ENABLED);
+        
+        if (timerHardware == NULL) {
+            /* flag failure and disable ability to arm */
+            break;
+        }
+
+#ifdef USE_DSHOT
+        if (isDigital) {
+            pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol);
+            motors[motorIndex].pwmWritePtr = pwmWriteDigital;
+            motors[motorIndex].enabled = true;
+            continue;
+        }
+#endif
         motors[motorIndex].io = IOGetByTag(tag);
         
         IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_OUTPUT, RESOURCE_INDEX(motorIndex));
         IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP);
         
-        const timerHardware_t *timer = timerGetByTag(tag, TIMER_OUTPUT_ENABLED);
-        
-        if (timer == NULL) {
-            /* flag failure and disable ability to arm */
-            break;
-        }
-        
         motors[motorIndex].pwmWritePtr = pwmWritePtr;
         if (useUnsyncedPwm) {
             const uint32_t hz = timerMhzCounter * 1000000;
-            pwmOutConfig(&motors[motorIndex], timer, timerMhzCounter, hz / motorConfig->motorPwmProtocol, idlePulse);
+            pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmProtocol, idlePulse);
         } else {
-            pwmOutConfig(&motors[motorIndex], timer, timerMhzCounter, 0xFFFF, 0);
+            pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, 0xFFFF, 0);
         }
         motors[motorIndex].enabled = true;
     }
 }
 
-pwmOutputPort_t *pwmGetMotors()
+bool pwmIsSynced(void) 
+{
+    return pwmCompleteWritePtr != NULL;
+}
+
+pwmOutputPort_t *pwmGetMotors(void)
 {
     return motors;
 }
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index fc3e9518d..507ed519e 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -26,10 +26,12 @@ typedef enum {
     PWM_TYPE_ONESHOT125,
     PWM_TYPE_ONESHOT42,
     PWM_TYPE_MULTISHOT,
-    PWM_TYPE_BRUSHED
+    PWM_TYPE_BRUSHED,
+    PWM_TYPE_DSHOT600,
+    PWM_TYPE_DSHOT150
 } motorPwmProtocolTypes_e;
 
-#define PWM_TIMER_MHZ 1
+#define PWM_TIMER_MHZ         1
 
 #if defined(STM32F40_41xxx) // must be multiples of timer clock
 #define ONESHOT125_TIMER_MHZ  12
@@ -43,8 +45,28 @@ typedef enum {
 #define PWM_BRUSHED_TIMER_MHZ 24
 #endif
 
+#define MOTOR_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
+
+typedef struct {
+    TIM_TypeDef *timer;
+    uint16_t timerDmaSources;
+} motorDmaTimer_t;
+
+typedef struct {
+    ioTag_t ioTag;
+    const timerHardware_t *timerHardware;
+    uint16_t value;
+    uint16_t timerDmaSource;
+#if defined(STM32F4)
+    uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
+#else
+    uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
+#endif
+} motorDmaOutput_t;
+
 struct timerHardware_s;
 typedef void(*pwmWriteFuncPtr)(uint8_t index, uint16_t value);  // function pointer used to write motors
+typedef void(*pwmCompleteWriteFuncPtr)(uint8_t motorCount);   // function pointer used after motors are written
 
 typedef struct {
     volatile timCCR_t *ccr;
@@ -60,13 +82,20 @@ void servoInit(const servoConfig_t *servoConfig);
 
 void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
+#ifdef USE_DSHOT
+void pwmWriteDigital(uint8_t index, uint16_t value);
+void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType);
+void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
+#endif
+
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
-void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
+void pwmCompleteMotorUpdate(uint8_t motorCount);
 
 void pwmWriteServo(uint8_t index, uint16_t value);
 
-pwmOutputPort_t *pwmGetMotors();
+pwmOutputPort_t *pwmGetMotors(void);
+bool pwmIsSynced(void);
 void pwmDisableMotors(void);
 void pwmEnableMotors(void);
 
diff --git a/src/main/drivers/pwm_stm32f3xx.c b/src/main/drivers/pwm_stm32f3xx.c
new file mode 100644
index 000000000..047b721d4
--- /dev/null
+++ b/src/main/drivers/pwm_stm32f3xx.c
@@ -0,0 +1,200 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight 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.
+ *
+ * Betaflight 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 Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "platform.h"
+
+#include "io.h"
+#include "timer.h"
+#include "pwm_mapping.h"
+#include "pwm_output.h"
+#include "nvic.h"
+#include "dma.h"
+#include "system.h"
+#include "rcc.h"
+
+#define MAX_DMA_TIMERS 8
+
+#define MOTOR_DSHOT600_MHZ    24
+#define MOTOR_DSHOT150_MHZ    6
+
+#define MOTOR_BIT_0     14
+#define MOTOR_BIT_1     29
+#define MOTOR_BITLENGTH 39
+
+static uint8_t dmaMotorTimerCount = 0;
+static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
+static motorDmaOutput_t dmaMotors[MAX_PWM_MOTORS];
+
+uint8_t getTimerIndex(TIM_TypeDef *timer)
+{
+    for (int i = 0; i < dmaMotorTimerCount; i++) {
+        if (dmaMotorTimers[i].timer == timer) {
+            return i;
+        }
+    }
+    dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
+    return dmaMotorTimerCount-1;
+}
+
+void pwmWriteDigital(uint8_t index, uint16_t value)
+{
+    motorDmaOutput_t * const motor = &dmaMotors[index];
+
+    value = (value - 1000) * 2;
+    motor->value = value;
+
+    motor->dmaBuffer[0]  = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[1]  = (value & 0x200) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[2]  = (value & 0x100) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[3]  = (value & 0x80)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[4]  = (value & 0x40)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[5]  = (value & 0x20)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[6]  = (value & 0x10)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[7]  = (value & 0x8)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[8]  = (value & 0x4)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[9]  = (value & 0x2)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[10] = (value & 0x1)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[11] = MOTOR_BIT_0; /* telemetry is always false for the moment */
+        
+    /* check sum */
+    motor->dmaBuffer[12] = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[13] = (value & 0x200) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[14] = (value & 0x100) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[15] = (value & 0x80)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+
+    DMA_SetCurrDataCounter(motor->timerHardware->dmaChannel, MOTOR_DMA_BUFFER_SIZE);  
+    DMA_Cmd(motor->timerHardware->dmaChannel, ENABLE);
+}
+
+void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
+{
+    UNUSED(motorCount);
+    
+    for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
+        TIM_SetCounter(dmaMotorTimers[i].timer, 0);
+        TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE); 
+    }
+}
+
+static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
+{
+    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
+        DMA_Cmd(descriptor->channel, DISABLE);
+        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
+    }
+}
+
+void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
+{
+    TIM_OCInitTypeDef TIM_OCInitStructure;
+    DMA_InitTypeDef DMA_InitStructure;
+
+    motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
+    motor->timerHardware = timerHardware;
+        
+    TIM_TypeDef *timer = timerHardware->tim;
+    const IO_t motorIO = IOGetByTag(timerHardware->tag);
+    
+    const uint8_t timerIndex = getTimerIndex(timer);
+    const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
+    
+    IOInit(motorIO, OWNER_MOTOR, RESOURCE_OUTPUT, 0);
+    IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(timer));
+
+    if (configureTimer) {
+        TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;    
+    
+        RCC_ClockCmd(timerRCC(timer), ENABLE);
+        TIM_Cmd(timer, DISABLE);
+        
+        uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
+        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;
+        TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
+        TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
+        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+        TIM_TimeBaseInit(timer, &TIM_TimeBaseStructure);
+    }
+    
+    TIM_OCStructInit(&TIM_OCInitStructure);
+    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+    TIM_OCInitStructure.TIM_Pulse = 0;
+    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
+
+    uint32_t timerChannelAddress = 0;
+    switch (timerHardware->channel) {
+        case TIM_Channel_1:
+            TIM_OC1Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC1;
+            timerChannelAddress = (uint32_t)(&timer->CCR1);
+            TIM_OC1PreloadConfig(timer, TIM_OCPreload_Enable);
+            break;
+        case TIM_Channel_2:
+            TIM_OC2Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC2;
+            timerChannelAddress = (uint32_t)(&timer->CCR2);
+            TIM_OC2PreloadConfig(timer, TIM_OCPreload_Enable);
+            break;
+        case TIM_Channel_3:
+            TIM_OC3Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC3;
+            timerChannelAddress = (uint32_t)(&timer->CCR3);
+            TIM_OC3PreloadConfig(timer, TIM_OCPreload_Enable);
+            break;
+        case TIM_Channel_4:
+            TIM_OC4Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC4;
+            timerChannelAddress = (uint32_t)(&timer->CCR4);
+            TIM_OC4PreloadConfig(timer, TIM_OCPreload_Enable);
+            break;
+    }
+    
+    if (configureTimer) {
+        TIM_CtrlPWMOutputs(timer, ENABLE);
+        TIM_ARRPreloadConfig(timer, ENABLE); 
+        TIM_Cmd(timer, ENABLE);       
+    }
+
+    DMA_Channel_TypeDef *channel = timerHardware->dmaChannel;
+    
+    DMA_Cmd(channel, DISABLE);
+    DMA_DeInit(channel);
+    DMA_StructInit(&DMA_InitStructure);
+    DMA_InitStructure.DMA_PeripheralBaseAddr = timerChannelAddress;
+    DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)motor->dmaBuffer;
+    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
+    DMA_InitStructure.DMA_BufferSize = MOTOR_DMA_BUFFER_SIZE;
+    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
+    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+    DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+    DMA_InitStructure.DMA_Priority = DMA_Priority_High;
+    DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
+
+    TIM_DMACmd(timer, motor->timerDmaSource, ENABLE);
+
+    DMA_ITConfig(channel, DMA_IT_TC, ENABLE);
+    DMA_Init(channel, &DMA_InitStructure);
+    
+    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
+}
+
+
diff --git a/src/main/drivers/pwm_stm32f4xx.c b/src/main/drivers/pwm_stm32f4xx.c
new file mode 100644
index 000000000..e514b7200
--- /dev/null
+++ b/src/main/drivers/pwm_stm32f4xx.c
@@ -0,0 +1,216 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight 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.
+ *
+ * Betaflight 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 Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "platform.h"
+
+#include "io.h"
+#include "timer.h"
+#include "pwm_output.h"
+#include "nvic.h"
+#include "dma.h"
+#include "system.h"
+#include "rcc.h"
+
+#define MAX_DMA_TIMERS 8
+
+#define MOTOR_DSHOT600_MHZ    12
+#define MOTOR_DSHOT150_MHZ    3
+
+#define MOTOR_BIT_0     7
+#define MOTOR_BIT_1     14
+#define MOTOR_BITLENGTH 19
+
+static uint8_t dmaMotorTimerCount = 0;
+static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
+static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
+
+uint8_t getTimerIndex(TIM_TypeDef *timer)
+{
+    for (int i = 0; i < dmaMotorTimerCount; i++) {
+        if (dmaMotorTimers[i].timer == timer) {
+            return i;
+        }
+    }
+    dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
+    return dmaMotorTimerCount-1;
+}
+
+void pwmWriteDigital(uint8_t index, uint16_t value)
+{
+    motorDmaOutput_t * const motor = &dmaMotors[index];
+
+    value = (value - 1000) * 2;
+    motor->value = value;
+
+    motor->dmaBuffer[0]  = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[1]  = (value & 0x200) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[2]  = (value & 0x100) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[3]  = (value & 0x80)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[4]  = (value & 0x40)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[5]  = (value & 0x20)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[6]  = (value & 0x10)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[7]  = (value & 0x8)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[8]  = (value & 0x4)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[9]  = (value & 0x2)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[10] = (value & 0x1)   ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[11] = MOTOR_BIT_0; /* telemetry is always false for the moment */
+        
+    /* check sum */
+    motor->dmaBuffer[12] = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[13] = (value & 0x200) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[14] = (value & 0x100) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[15] = (value & 0x80)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+
+    DMA_SetCurrDataCounter(motor->timerHardware->dmaStream, MOTOR_DMA_BUFFER_SIZE);  
+    DMA_Cmd(motor->timerHardware->dmaStream, ENABLE);
+}
+
+void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
+{
+    UNUSED(motorCount);
+    
+    for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
+        TIM_SetCounter(dmaMotorTimers[i].timer, 0);
+        TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE); 
+    }
+}
+
+static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
+{
+    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
+        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
+        DMA_Cmd(descriptor->stream, DISABLE);
+        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
+        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
+    }
+}
+
+void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
+{
+    TIM_OCInitTypeDef TIM_OCInitStructure;
+    DMA_InitTypeDef DMA_InitStructure;
+
+    motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
+    motor->timerHardware = timerHardware;
+        
+    TIM_TypeDef *timer = timerHardware->tim;
+    const IO_t motorIO = IOGetByTag(timerHardware->tag);
+    
+    const uint8_t timerIndex = getTimerIndex(timer);
+    const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
+    
+    IOInit(motorIO, OWNER_MOTOR, RESOURCE_OUTPUT, 0);
+    IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(timer));
+
+    if (configureTimer) {
+        TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;    
+    
+        RCC_ClockCmd(timerRCC(timer), ENABLE);
+        TIM_Cmd(timer, DISABLE);
+        
+        uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
+        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;
+        TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
+        TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
+        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+        TIM_TimeBaseInit(timer, &TIM_TimeBaseStructure);        
+    }
+    
+    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
+    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
+    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
+    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
+    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
+    TIM_OCInitStructure.TIM_Pulse = 0;
+
+    uint32_t timerChannelAddress = 0;
+    uint32_t dmaItFlag = 0;
+    switch (timerHardware->channel) {
+        case TIM_Channel_1:
+            TIM_OC1Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC1;
+            timerChannelAddress = (uint32_t)(&timer->CCR1);
+            TIM_OC1PreloadConfig(timer, TIM_OCPreload_Enable);
+            dmaItFlag = DMA_IT_TCIF1;
+            break;
+        case TIM_Channel_2:
+            TIM_OC2Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC2;
+            timerChannelAddress = (uint32_t)(&timer->CCR2);
+            TIM_OC2PreloadConfig(timer, TIM_OCPreload_Enable);
+            dmaItFlag = DMA_IT_TCIF2;
+            break;
+        case TIM_Channel_3:
+            TIM_OC3Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC3;
+            timerChannelAddress = (uint32_t)(&timer->CCR3);
+            TIM_OC3PreloadConfig(timer, TIM_OCPreload_Enable);
+            dmaItFlag = DMA_IT_TCIF3;
+            break;
+        case TIM_Channel_4:
+            TIM_OC4Init(timer, &TIM_OCInitStructure);
+            motor->timerDmaSource = TIM_DMA_CC4;
+            timerChannelAddress = (uint32_t)(&timer->CCR4);
+            TIM_OC4PreloadConfig(timer, TIM_OCPreload_Enable);
+            dmaItFlag = DMA_IT_TCIF4;
+            break;
+    }
+    dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
+    
+    TIM_CCxCmd(timer, motor->timerHardware->channel, TIM_CCx_Enable);
+    
+    if (configureTimer) {
+        TIM_CtrlPWMOutputs(timer, ENABLE);
+        TIM_ARRPreloadConfig(timer, ENABLE); 
+        TIM_Cmd(timer, ENABLE);       
+    }
+
+    DMA_Stream_TypeDef *stream = timerHardware->dmaStream;
+    
+    DMA_Cmd(stream, DISABLE);
+    DMA_DeInit(stream);
+    DMA_StructInit(&DMA_InitStructure);
+    DMA_InitStructure.DMA_Channel = timerHardware->dmaChannel;
+    DMA_InitStructure.DMA_PeripheralBaseAddr = timerChannelAddress;
+    DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)motor->dmaBuffer;
+    DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+    DMA_InitStructure.DMA_BufferSize = MOTOR_DMA_BUFFER_SIZE;
+    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
+    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
+    DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+    DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
+    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
+    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
+    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+
+    DMA_Init(stream, &DMA_InitStructure);
+
+    DMA_ITConfig(stream, DMA_IT_TC, ENABLE);
+    DMA_ClearITPendingBit(stream, dmaItFlag);
+    
+    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
+}
+
+
diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index 701ea1499..c0425eb13 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -227,23 +227,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
 
     // "The counter clock frequency (CK_CNT) is equal to f CK_PSC / (PSC[15:0] + 1)." - STM32F10x Reference Manual 14.4.11
     // Thus for 1Mhz: 72000000 / 1000000 = 72, 72 - 1 = 71 = TIM_Prescaler
-#if defined (STM32F40_41xxx)
-    if (tim == TIM1 || tim == TIM8 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
-        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
-    }
-    else {
-        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 2 / ((uint32_t)mhz * 1000000)) - 1;
-    }
-#elif defined (STM32F411xE)
-    if (tim == TIM1 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
-        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
-    }
-    else {
-        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 2 / ((uint32_t)mhz * 1000000)) - 1;
-    }
-#else
-    TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
-#endif
+    TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(tim) / ((uint32_t)mhz * 1000000)) - 1;
 
     TIM_TimeBaseStructure.TIM_ClockDivision = 0;
     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index 50ff96f32..244ca3bec 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -80,6 +80,15 @@ typedef struct timerHardware_s {
 #if defined(STM32F3) || defined(STM32F4)
     uint8_t alternateFunction;
 #endif
+#if defined(USE_DSHOT) 
+#if defined(STM32F4)
+    DMA_Stream_TypeDef *dmaStream; 
+    uint32_t dmaChannel;
+#elif defined(STM32F3)
+    DMA_Channel_TypeDef *dmaChannel;
+#endif
+    uint8_t dmaIrqHandler;
+#endif 
 } timerHardware_t;
 
 typedef enum {
@@ -149,6 +158,8 @@ void timerInit(void);
 void timerStart(void);
 void timerForceOverflow(TIM_TypeDef *tim);
 
+uint8_t timerClockDivisor(TIM_TypeDef *tim);
+
 void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz);  // TODO - just for migration
 
 rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
diff --git a/src/main/drivers/timer_stm32f10x.c b/src/main/drivers/timer_stm32f10x.c
index d918b0711..2d366e501 100644
--- a/src/main/drivers/timer_stm32f10x.c
+++ b/src/main/drivers/timer_stm32f10x.c
@@ -37,6 +37,12 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
 #endif
 };
 
+uint8_t timerClockDivisor(TIM_TypeDef *tim)
+{
+    UNUSED(tim);
+    return 1;
+}
+
 /**
   * @brief  Selects the TIM Output Compare Mode.
   * @note   This function does NOT disable the selected channel before changing the Output
diff --git a/src/main/drivers/timer_stm32f30x.c b/src/main/drivers/timer_stm32f30x.c
index 3f7107b4c..bdb70bb63 100644
--- a/src/main/drivers/timer_stm32f30x.c
+++ b/src/main/drivers/timer_stm32f30x.c
@@ -29,6 +29,10 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     { .TIMx = TIM17, .rcc = RCC_APB2(TIM17) },
 };
 
+uint8_t timerClockDivisor(TIM_TypeDef *tim)
+{
+    return 1;
+}
 
 /**
   * @brief  Selects the TIM Output Compare Mode.
diff --git a/src/main/drivers/timer_stm32f4xx.c b/src/main/drivers/timer_stm32f4xx.c
index 810b3a428..be299b116 100644
--- a/src/main/drivers/timer_stm32f4xx.c
+++ b/src/main/drivers/timer_stm32f4xx.c
@@ -58,6 +58,54 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     { .TIMx = TIM14, .rcc = RCC_APB1(TIM14) },
 };
 
+/* 
+    need a mapping from dma and timers to pins, and the values should all be set here to the dmaMotors array.
+    this mapping could be used for both these motors and for led strip.
+    
+    only certain pins have OC output (already used in normal PWM et al) but then 
+    there are only certain DMA streams/channels available for certain timers and channels.
+     *** (this may highlight some hardware limitations on some targets) ***
+
+    DMA1
+    
+    Channel Stream0     Stream1     Stream2     Stream3     Stream4     Stream5     Stream6     Stream7
+    0       
+    1
+    2       TIM4_CH1                            TIM4_CH2                                        TIM4_CH3
+    3                   TIM2_CH3                                        TIM2_CH1    TIM2_CH1    TIM2_CH4
+                                                                                    TIM2_CH4
+    4
+    5                               TIM3_CH4                TIM3_CH1    TIM3_CH2                TIM3_CH3
+    6       TIM5_CH3    TIM5_CH4    TIM5_CH1    TIM5_CH4    TIM5_CH2
+    7  
+    
+    DMA2
+    
+    Channel Stream0     Stream1     Stream2     Stream3     Stream4     Stream5     Stream6     Stream7
+    0                               TIM8_CH1                                        TIM1_CH1
+                                    TIM8_CH2                                        TIM1_CH2
+                                    TIM8_CH3                                        TIM1_CH3
+    1
+    2
+    3
+    4
+    5
+    6       TIM1_CH1    TIM1_CH2    TIM1_CH1                TIM1_CH4                TIM1_CH3
+    7                   TIM8_CH1    TIM8_CH2    TIM8_CH3                                        TIM8_CH4
+*/
+
+uint8_t timerClockDivisor(TIM_TypeDef *tim)
+{
+#if defined (STM32F40_41xxx)
+    if (tim == TIM8) return 1; 
+#endif
+    if (tim == TIM1 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
+        return 1;
+    } else {
+        return 2;
+    }   
+}
+
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode)
 {
     uint32_t tmp = 0;
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 77e627540..a4f441161 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -331,7 +331,6 @@ const mixerRules_t servoMixers[] = {
 static servoMixer_t *customServoMixers;
 #endif
 
-
 static motorMixer_t *customMixers;
 
 void mixerUseConfigs(
@@ -404,14 +403,12 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
 
 void loadCustomServoMixer(void)
 {
-    uint8_t i;
-
     // reset settings
     servoRuleCount = 0;
     memset(currentServoMixer, 0, sizeof(currentServoMixer));
 
     // load custom mixer into currentServoMixer
-    for (i = 0; i < MAX_SERVO_RULES; i++) {
+    for (uint8_t i = 0; i < MAX_SERVO_RULES; i++) {
         // check if done
         if (customServoMixers[i].rate == 0)
             break;
@@ -421,13 +418,13 @@ void loadCustomServoMixer(void)
     }
 }
 
-void mixerUsePWMOutputConfiguration(bool use_unsyncedPwm)
+void mixerConfigureOutput(void)
 {
     int i;
 
     motorCount = 0;
 
-    syncMotorOutputWithPidLoop = !use_unsyncedPwm;
+    syncMotorOutputWithPidLoop = pwmIsSynced();
 
     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
         // load custom mixer into currentMixer
@@ -518,18 +515,14 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
             customMixers[i] = mixers[index].motor[i];
     }
 }
-
 #else
-
-void mixerUsePWMOutputConfiguration(bool use_unsyncedPwm)
+void mixerConfigureOutput(void)
 {
+    syncMotorOutputWithPidLoop = pwmIsSynced();
     
-    syncMotorOutputWithPidLoop = !use_unsyncedPwm;
-    
-    motorCount = 4;
+    motorCount = QUAD_MOTOR_COUNT;
 
-    uint8_t i;
-    for (i = 0; i < motorCount; i++) {
+    for (uint8_t i = 0; i < motorCount; i++) {
         currentMixer[i] = mixerQuadX[i];
     }
 
@@ -631,23 +624,22 @@ void writeServos(void)
 
 void writeMotors(void)
 {
-    uint8_t i;
-
-    for (i = 0; i < motorCount; i++)
+	for (uint8_t i = 0; i < motorCount; i++) {
         pwmWriteMotor(i, motor[i]);
+	}
 
     if (syncMotorOutputWithPidLoop) {
-        pwmCompleteOneshotMotorUpdate(motorCount);
+        pwmCompleteMotorUpdate(motorCount);
     }
 }
 
 void writeAllMotors(int16_t mc)
 {
-    uint8_t i;
-
     // Sends commands to all motors
-    for (i = 0; i < motorCount; i++)
+    for (uint8_t i = 0; i < motorCount; i++) {
         motor[i] = mc;
+    }
+
     writeMotors();
 }
 
@@ -658,7 +650,7 @@ void stopMotors(void)
     delay(50); // give the timers and ESCs a chance to react.
 }
 
-void stopPwmAllMotors()
+void stopPwmAllMotors(void)
 {
     pwmShutdownPulsesForAllMotors(motorCount);
     delayMicroseconds(1500);
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index a6a7cee6d..4622cfd3f 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -20,6 +20,8 @@
 #define MAX_SUPPORTED_MOTORS 12
 #define MAX_SUPPORTED_SERVOS 8
 
+#define QUAD_MOTOR_COUNT 4
+
 // Note: this is called MultiType/MULTITYPE_* in baseflight.
 typedef enum mixerMode
 {
@@ -213,7 +215,7 @@ int servoDirection(int servoIndex, int fromChannel);
 #endif
 void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
 
-void mixerUsePWMOutputConfiguration(bool use_unsyncedPwm);
+void mixerConfigureOutput(void);
 
 void mixerResetDisarmedMotors(void);
 void mixTable(void *pidProfilePtr);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 8fd14951a..613a8366b 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -520,7 +520,10 @@ static const char * const lookupTableSuperExpoYaw[] = {
 };
 
 static const char * const lookupTablePwmProtocol[] = {
-    "OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
+    "OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", 
+#ifdef USE_DSHOT 
+    "DSHOT600", "DSHOT150"
+#endif
 };
 
 static const char * const lookupTableDeltaMethod[] = {
diff --git a/src/main/main.c b/src/main/main.c
index c495a2eb5..5ba35ecea 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -259,8 +259,9 @@ void init(void)
         featureClear(FEATURE_3D);
         idlePulse = 0; // brushed motors
     }
+
 #ifdef USE_QUAD_MIXER_ONLY
-    motorInit(&masterConfig.motorConfig, idlePulse, 4);
+    motorInit(&masterConfig.motorConfig, idlePulse, QUAD_MOTOR_COUNT);
 #else
     motorInit(&masterConfig.motorConfig, idlePulse, mixers[masterConfig.mixerMode].motorCount);
 #endif
@@ -281,10 +282,7 @@ void init(void)
     pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
 #endif
 
-    bool usingUnsyncedOutput = (masterConfig.motorConfig.useUnsyncedPwm 
-        || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED 
-        || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_STANDARD); 
-    mixerUsePWMOutputConfiguration(usingUnsyncedOutput);
+    mixerConfigureOutput();
     
     systemState |= SYSTEM_STATE_MOTORS_READY;
 
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index a725c47a3..2e1d85f2b 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -20,14 +20,15 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
-const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // PPM IN
-    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S1_OUT
-    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S2_OUT
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
-    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { 
+    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8, NULL,         0,             0  }, // PPM IN
+    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5, DMA1_Stream2, DMA_Channel_6, DMA1_ST2_HANDLER }, // S1_OUT
+    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5, DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER }, // S2_OUT
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // S3_OUT
+    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM9, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S4_OUT
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // S5_OUT
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // S6_OUT
 };
 
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index d860ee66a..a013e3fb2 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -140,6 +140,7 @@
 #define USE_ADC
 #define VBAT_ADC_PIN            PC3
 
+#define USE_DSHOT
 #define LED_STRIP
 // LED Strip can run off Pin 6 (PB1) of the ESC outputs.
 #define WS2811_PIN                      PB1
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
index 5714bce5b..78e762476 100644
--- a/src/main/target/BLUEJAYF4/target.mk
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -5,4 +5,5 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6500.c \
             drivers/accgyro_mpu6500.c \
             drivers/barometer_ms5611.c
+            drivers/pwm_stm32f4xx.c
 
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 743f531e3..d36fa9903 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -19,22 +19,23 @@
 
 #include <platform.h>
 #include "drivers/io.h"
+#include "drivers/dma.h"
 
 #include "drivers/timer.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_6},
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_2},
-    { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
-    { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1},
+    { TIM15, IO_TAG(PB15), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,      TIMER_OUTPUT_ENABLED,                       IOCFG_AF_PP, GPIO_AF_6, DMA1_Channel5, DMA1_CH5_HANDLER },
+    { TIM8,  IO_TAG(PB0),  TIM_Channel_2, TIM8_CC_IRQn,             TIMER_OUTPUT_ENABLED,                       IOCFG_AF_PP, GPIO_AF_2, DMA2_Channel5, DMA2_CH5_HANDLER },
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,             TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel2, DMA1_CH2_HANDLER },
+    { TIM1,  IO_TAG(PB14), TIM_Channel_2, TIM1_CC_IRQn,             TIMER_OUTPUT_ENABLED,                       IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel3, DMA1_CH3_HANDLER },
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,                TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel6, DMA1_CH6_HANDLER },
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn,  TIMER_OUTPUT_ENABLED|TIMER_OUTPUT_INVERTED, IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel7, DMA1_CH7_HANDLER },
 
-    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1}, // TODO - Cleanup. KISS FC uses the same pin for serial and PPM
-    { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1},
-    { TIM4,  IO_TAG(PA13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP, GPIO_AF_10},
-    { TIM8,  IO_TAG(PA14), TIM_Channel_3, TIM8_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_5},
+    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  NULL, 0}, // TODO - Cleanup. KISS FC uses the same pin for serial and PPM
+    { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  NULL, 0},
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  NULL, 0},
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  NULL, 0},
+    { TIM4,  IO_TAG(PA13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP, GPIO_AF_10, NULL, 0},
+    { TIM8,  IO_TAG(PA14), TIM_Channel_3, TIM8_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_5,  NULL, 0},
 };
 
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index 7eff58c7b..f8a606277 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -23,6 +23,8 @@
 
 #define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)
 
+#define USE_DSHOT
+
 #define LED0                    PB1
 
 #define BEEPER                  PB13
diff --git a/src/main/target/KISSFC/target.mk b/src/main/target/KISSFC/target.mk
index c59af03e5..aa0490b07 100644
--- a/src/main/target/KISSFC/target.mk
+++ b/src/main/target/KISSFC/target.mk
@@ -4,5 +4,6 @@ FEATURES    = VCP
 TARGET_SRC = \
             drivers/accgyro_mpu.c \
             drivers/display_ug2864hsweg01.c \
-            drivers/accgyro_mpu6050.c
+            drivers/accgyro_mpu6050.c \
+            drivers/pwm_stm32f3xx.c
 
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index 31d22875b..f8be6e2ea 100644
--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@@ -19,20 +19,21 @@
 
 #include <platform.h>
 #include "drivers/io.h"
+#include "drivers/dma.h"
 
 #include "drivers/timer.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },  // PPM (5th pin on FlexiIO port)
-    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },  // S2_IN - GPIO_PartialRemap_TIM3
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S3_IN
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S4_IN
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S5_IN
-    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S6_IN
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3  },  // S1_OUT
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3  },  // S2_OUT
-    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  1, IOCFG_AF_PP, GPIO_AF_TIM9  },  // S3_OUT
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2  },  // S4_OUT
-    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5  },  // S5_OUT - GPIO_PartialRemap_TIM3
-    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5  },  // S6_OUT
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12, NULL,         0,             0  },  // PPM (5th pin on FlexiIO port)
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12, NULL,         0,             0  },  // S2_IN
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL,         0,             0  },  // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL,         0,             0  },  // S4_IN
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL,         0,             0  },  // S5_IN
+    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL,         0,             0  },  // S6_IN
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3,  DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER  },  // S1_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3,  DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER  },  // S2_OUT
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2,  DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER  },  // S3_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2,  DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER  },  // S4_OUT
+    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5,  DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER  },  // S5_OUT
+    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5,  DMA1_Stream2, DMA_Channel_6, DMA1_ST2_HANDLER  },  // S6_OUT
 };
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 8a20b31bb..97b66191d 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -26,6 +26,8 @@
 #define USBD_SERIALNUMBER_STRING "0x8020000"
 #endif
 
+#define USE_DSHOT
+
 #define LED0                    PB5
 // Disable LED1, conflicts with AirbotF4/Flip32F4 beeper
 //#define LED1                    PB4
diff --git a/src/main/target/REVO/target.mk b/src/main/target/REVO/target.mk
index 2711b19da..377ad79bc 100644
--- a/src/main/target/REVO/target.mk
+++ b/src/main/target/REVO/target.mk
@@ -5,3 +5,4 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
             drivers/barometer_ms5611.c \
             drivers/compass_hmc5883l.c
+            drivers/pwm_stm32f4xx.c

From 712985a7aaea6cb3438dc8eb51ddd79327159370 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Fri, 14 Oct 2016 04:40:01 +1100
Subject: [PATCH 2/6] Cleaned up filenames to better reflect purpose

Fixed build issue following rebase
---
 src/main/drivers/{pwm_stm32f3xx.c => pwm_output_stm32f3xx.c} | 3 +--
 src/main/drivers/{pwm_stm32f4xx.c => pwm_output_stm32f4xx.c} | 0
 src/main/drivers/timer_stm32f30x.c                           | 1 +
 src/main/target/BLUEJAYF4/target.mk                          | 4 ++--
 src/main/target/KISSFC/target.mk                             | 2 +-
 src/main/target/REVO/target.mk                               | 4 ++--
 6 files changed, 7 insertions(+), 7 deletions(-)
 rename src/main/drivers/{pwm_stm32f3xx.c => pwm_output_stm32f3xx.c} (99%)
 rename src/main/drivers/{pwm_stm32f4xx.c => pwm_output_stm32f4xx.c} (100%)

diff --git a/src/main/drivers/pwm_stm32f3xx.c b/src/main/drivers/pwm_output_stm32f3xx.c
similarity index 99%
rename from src/main/drivers/pwm_stm32f3xx.c
rename to src/main/drivers/pwm_output_stm32f3xx.c
index 047b721d4..11737cf88 100644
--- a/src/main/drivers/pwm_stm32f3xx.c
+++ b/src/main/drivers/pwm_output_stm32f3xx.c
@@ -22,7 +22,6 @@
 
 #include "io.h"
 #include "timer.h"
-#include "pwm_mapping.h"
 #include "pwm_output.h"
 #include "nvic.h"
 #include "dma.h"
@@ -40,7 +39,7 @@
 
 static uint8_t dmaMotorTimerCount = 0;
 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
-static motorDmaOutput_t dmaMotors[MAX_PWM_MOTORS];
+static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
 
 uint8_t getTimerIndex(TIM_TypeDef *timer)
 {
diff --git a/src/main/drivers/pwm_stm32f4xx.c b/src/main/drivers/pwm_output_stm32f4xx.c
similarity index 100%
rename from src/main/drivers/pwm_stm32f4xx.c
rename to src/main/drivers/pwm_output_stm32f4xx.c
diff --git a/src/main/drivers/timer_stm32f30x.c b/src/main/drivers/timer_stm32f30x.c
index bdb70bb63..6265d7fd7 100644
--- a/src/main/drivers/timer_stm32f30x.c
+++ b/src/main/drivers/timer_stm32f30x.c
@@ -31,6 +31,7 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
 
 uint8_t timerClockDivisor(TIM_TypeDef *tim)
 {
+    UNUSED(tim);
     return 1;
 }
 
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
index 78e762476..c208a0e7b 100644
--- a/src/main/target/BLUEJAYF4/target.mk
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -4,6 +4,6 @@ FEATURES        += SDCARD VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6500.c \
             drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c
-            drivers/pwm_stm32f4xx.c
+            drivers/barometer_ms5611.c \
+            drivers/pwm_output_stm32f4xx.c
 
diff --git a/src/main/target/KISSFC/target.mk b/src/main/target/KISSFC/target.mk
index aa0490b07..c346388e0 100644
--- a/src/main/target/KISSFC/target.mk
+++ b/src/main/target/KISSFC/target.mk
@@ -5,5 +5,5 @@ TARGET_SRC = \
             drivers/accgyro_mpu.c \
             drivers/display_ug2864hsweg01.c \
             drivers/accgyro_mpu6050.c \
-            drivers/pwm_stm32f3xx.c
+            drivers/pwm_output_stm32f3xx.c
 
diff --git a/src/main/target/REVO/target.mk b/src/main/target/REVO/target.mk
index 377ad79bc..0ff56bee7 100644
--- a/src/main/target/REVO/target.mk
+++ b/src/main/target/REVO/target.mk
@@ -4,5 +4,5 @@ FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
             drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c
-            drivers/pwm_stm32f4xx.c
+            drivers/compass_hmc5883l.c \
+            drivers/pwm_output_stm32f4xx.c

From f2cb0d5ddea63c04bc90f1f3468d510bdb23a844 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Sat, 15 Oct 2016 17:37:37 +1100
Subject: [PATCH 3/6] Updated to utilise new CRC

---
 src/main/drivers/pwm_output_stm32f3xx.c | 8 ++++----
 src/main/drivers/pwm_output_stm32f4xx.c | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/drivers/pwm_output_stm32f3xx.c b/src/main/drivers/pwm_output_stm32f3xx.c
index 11737cf88..5c215f779 100644
--- a/src/main/drivers/pwm_output_stm32f3xx.c
+++ b/src/main/drivers/pwm_output_stm32f3xx.c
@@ -73,10 +73,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
     motor->dmaBuffer[11] = MOTOR_BIT_0; /* telemetry is always false for the moment */
         
     /* check sum */
-    motor->dmaBuffer[12] = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
-    motor->dmaBuffer[13] = (value & 0x200) ? MOTOR_BIT_1 : MOTOR_BIT_0;
-    motor->dmaBuffer[14] = (value & 0x100) ? MOTOR_BIT_1 : MOTOR_BIT_0;
-    motor->dmaBuffer[15] = (value & 0x80)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[12] = (value & 0x400) ^ (value & 0x40) ^ (value & 0x4) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[13] = (value & 0x200) ^ (value & 0x20) ^ (value & 0x2) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[14] = (value & 0x100) ^ (value & 0x10) ^ (value & 0x1) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[15] = (value & 0x80)  ^ (value & 0x8)  ^ (0x0)         ? MOTOR_BIT_1 : MOTOR_BIT_0;
 
     DMA_SetCurrDataCounter(motor->timerHardware->dmaChannel, MOTOR_DMA_BUFFER_SIZE);  
     DMA_Cmd(motor->timerHardware->dmaChannel, ENABLE);
diff --git a/src/main/drivers/pwm_output_stm32f4xx.c b/src/main/drivers/pwm_output_stm32f4xx.c
index e514b7200..28222200c 100644
--- a/src/main/drivers/pwm_output_stm32f4xx.c
+++ b/src/main/drivers/pwm_output_stm32f4xx.c
@@ -73,10 +73,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
     motor->dmaBuffer[11] = MOTOR_BIT_0; /* telemetry is always false for the moment */
         
     /* check sum */
-    motor->dmaBuffer[12] = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
-    motor->dmaBuffer[13] = (value & 0x200) ? MOTOR_BIT_1 : MOTOR_BIT_0;
-    motor->dmaBuffer[14] = (value & 0x100) ? MOTOR_BIT_1 : MOTOR_BIT_0;
-    motor->dmaBuffer[15] = (value & 0x80)  ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[12] = (value & 0x400) ^ (value & 0x40) ^ (value & 0x4) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[13] = (value & 0x200) ^ (value & 0x20) ^ (value & 0x2) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[14] = (value & 0x100) ^ (value & 0x10) ^ (value & 0x1) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+    motor->dmaBuffer[15] = (value & 0x80)  ^ (value & 0x8)  ^ (0x0)         ? MOTOR_BIT_1 : MOTOR_BIT_0;
 
     DMA_SetCurrDataCounter(motor->timerHardware->dmaStream, MOTOR_DMA_BUFFER_SIZE);  
     DMA_Cmd(motor->timerHardware->dmaStream, ENABLE);

From 631408e90bc2cb615d91fe61f28299c064187492 Mon Sep 17 00:00:00 2001
From: kc10kevin <kc10kevin@yahoo.com>
Date: Tue, 18 Oct 2016 20:27:09 +1100
Subject: [PATCH 4/6] FURYF3 and F4 support

---
 src/main/target/FURYF3/target.c  | 19 +++++++++++--------
 src/main/target/FURYF3/target.h  |  2 ++
 src/main/target/FURYF3/target.mk |  3 ++-
 src/main/target/FURYF4/target.c  | 13 +++++++------
 src/main/target/FURYF4/target.h  |  4 +++-
 src/main/target/FURYF4/target.mk |  3 ++-
 6 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/src/main/target/FURYF3/target.c b/src/main/target/FURYF3/target.c
index 7de36bf96..5f2d3185b 100644
--- a/src/main/target/FURYF3/target.c
+++ b/src/main/target/FURYF3/target.c
@@ -21,17 +21,20 @@
 #include "drivers/io.h"
 
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PPM IN
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // SS1 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // SS1 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4 - S1
-    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - S2
-    { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10}, // PWM6 - S3
-    { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM7 - S4
+    { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // PPM IN
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // SS1 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // SS1 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  DMA1_Channel4, DMA1_CH4_HANDLER }, // PWM4 - S1
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  DMA1_Channel1, DMA1_CH1_HANDLER }, // PWM5 - S2
+    { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, DMA1_Channel7, DMA1_CH7_HANDLER }, // PWM6 - S3
+    { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  DMA1_Channel3, DMA1_CH3_HANDLER }, // PWM7 - S4
+
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, NULL, 0 }, // GPIO TIMER - LED_STRIP
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO TIMER - LED_STRIP
 };
 
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index bd9a09eca..beb71269e 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -167,6 +167,8 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
+#define USE_DSHOT
+
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
diff --git a/src/main/target/FURYF3/target.mk b/src/main/target/FURYF3/target.mk
index 1cbb887de..b7049e346 100644
--- a/src/main/target/FURYF3/target.mk
+++ b/src/main/target/FURYF3/target.mk
@@ -8,5 +8,6 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
             drivers/accgyro_mpu6500.c \
             drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_spi_icm20689.c
+            drivers/accgyro_spi_icm20689.c \
+            drivers/pwm_output_stm32f3xx.c
 
diff --git a/src/main/target/FURYF4/target.c b/src/main/target/FURYF4/target.c
index 90db896c5..af6feb53c 100644
--- a/src/main/target/FURYF4/target.c
+++ b/src/main/target/FURYF4/target.c
@@ -19,16 +19,17 @@
 
 #include <platform.h>
 #include "drivers/io.h"
-
+#include "drivers/dma.h"
 #include "drivers/timer.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8 },          // PPM_IN
 
-    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 },          // S1_OUT
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 },          // S2_OUT
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 },          // S3_OUT
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2 },          // S4_OUT
+    { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8, NULL,         0,             0  },          // PPM_IN
+
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,        1, IOCFG_AF_PP, GPIO_AF_TIM2,  DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER  },  // S1_OUT
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,        1, IOCFG_AF_PP, GPIO_AF_TIM3,  DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER  },  // S2_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,        1, IOCFG_AF_PP, GPIO_AF_TIM3,  DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER  },  // S3_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,        1, IOCFG_AF_PP, GPIO_AF_TIM2,  DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER  },  // S4_OUT
 
 //  { TIM5, GPIOA, Pin_0, TIM_Channel_1, TIM5_IRQn, 1, GPIO_Mode_AF, GPIO_PinSource0, GPIO_AF_TIM5 },    // LED Strip
 };
diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h
index 8b767e865..64091a079 100644
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@@ -183,11 +183,13 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
+#define USE_DSHOT
+
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
 #define USABLE_TIMER_CHANNEL_COUNT 5
-#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(8) )
 
diff --git a/src/main/target/FURYF4/target.mk b/src/main/target/FURYF4/target.mk
index b35c30a57..e1fb3c41b 100644
--- a/src/main/target/FURYF4/target.mk
+++ b/src/main/target/FURYF4/target.mk
@@ -6,5 +6,6 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6500.c \
             drivers/accgyro_mpu6500.c \
             drivers/accgyro_spi_icm20689.c \
-            drivers/barometer_ms5611.c
+            drivers/barometer_ms5611.c \
+            drivers/pwm_output_stm32f4xx.c
 

From 9f742b017dd978ce40c166fd49415e87c20a7a69 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Tue, 18 Oct 2016 20:27:45 +1100
Subject: [PATCH 5/6] OMNIBUS Support, and updates to filenames etc for
 cleanliness

---
 Makefile                                |  2 ++
 src/main/drivers/pwm_output.h           |  2 +-
 src/main/drivers/pwm_output_stm32f3xx.c | 40 +++++++++++++++----------
 src/main/drivers/pwm_output_stm32f4xx.c |  8 +++--
 src/main/target/BLUEJAYF4/target.c      |  2 +-
 src/main/target/BLUEJAYF4/target.mk     |  3 +-
 src/main/target/KISSFC/target.mk        |  3 +-
 src/main/target/OMNIBUS/target.c        | 18 ++++++-----
 src/main/target/OMNIBUS/target.h        |  3 +-
 src/main/target/OMNIBUSF4/target.c      | 25 ++++++++--------
 src/main/target/OMNIBUSF4/target.h      |  2 ++
 src/main/target/REVO/target.mk          |  3 +-
 12 files changed, 65 insertions(+), 46 deletions(-)

diff --git a/Makefile b/Makefile
index 1266aadf7..2bfcbd30c 100644
--- a/Makefile
+++ b/Makefile
@@ -536,6 +536,7 @@ STM32F30x_COMMON_SRC = \
             drivers/dma.c \
             drivers/gpio_stm32f30x.c \
             drivers/light_ws2811strip_stm32f30x.c \
+            drivers/pwm_output_stm32f3xx.c \
             drivers/serial_uart_stm32f30x.c \
             drivers/system_stm32f30x.c \
             drivers/timer_stm32f30x.c
@@ -550,6 +551,7 @@ STM32F4xx_COMMON_SRC = \
             drivers/gpio_stm32f4xx.c \
             drivers/inverter.c \
             drivers/light_ws2811strip_stm32f4xx.c \
+            drivers/pwm_output_stm32f4xx.c \
             drivers/serial_uart_stm32f4xx.c \
             drivers/system_stm32f4xx.c \
             drivers/timer_stm32f4xx.c
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 507ed519e..7bc478af7 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -57,7 +57,7 @@ typedef struct {
     const timerHardware_t *timerHardware;
     uint16_t value;
     uint16_t timerDmaSource;
-#if defined(STM32F4)
+#if defined(STM32F3) || defined(STM32F4)
     uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
 #else
     uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
diff --git a/src/main/drivers/pwm_output_stm32f3xx.c b/src/main/drivers/pwm_output_stm32f3xx.c
index 5c215f779..30ac9dcc0 100644
--- a/src/main/drivers/pwm_output_stm32f3xx.c
+++ b/src/main/drivers/pwm_output_stm32f3xx.c
@@ -28,6 +28,8 @@
 #include "system.h"
 #include "rcc.h"
 
+#ifdef USE_DSHOT
+
 #define MAX_DMA_TIMERS 8
 
 #define MOTOR_DSHOT600_MHZ    24
@@ -56,7 +58,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 {
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    value = (value - 1000) * 2;
+    value = (value <= 1000) ? 0 : ((value - 1000) * 2);
     motor->value = value;
 
     motor->dmaBuffer[0]  = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
@@ -95,7 +97,9 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
 {
     if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
+        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
         DMA_Cmd(descriptor->channel, DISABLE);
+        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
         DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
     }
 }
@@ -115,7 +119,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
     
     IOInit(motorIO, OWNER_MOTOR, RESOURCE_OUTPUT, 0);
-    IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(timer));
+    IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
 
     if (configureTimer) {
         TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;    
@@ -124,7 +128,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
         TIM_Cmd(timer, DISABLE);
         
         uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
-        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;
+        TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((SystemCoreClock / timerClockDivisor(timer) / hz) - 1);
         TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
         TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
         TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
@@ -133,9 +137,13 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     
     TIM_OCStructInit(&TIM_OCInitStructure);
     TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
+    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
+    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
+    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
     TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
     TIM_OCInitStructure.TIM_Pulse = 0;
-    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
 
     uint32_t timerChannelAddress = 0;
     switch (timerHardware->channel) {
@@ -164,15 +172,20 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
             TIM_OC4PreloadConfig(timer, TIM_OCPreload_Enable);
             break;
     }
-    
+    dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
+
+    TIM_CCxCmd(timer, motor->timerHardware->channel, TIM_CCx_Enable);
+
     if (configureTimer) {
-        TIM_CtrlPWMOutputs(timer, ENABLE);
+        TIM_CtrlPWMOutputs(timer, ENABLE);  
         TIM_ARRPreloadConfig(timer, ENABLE); 
-        TIM_Cmd(timer, ENABLE);       
+        TIM_Cmd(timer, ENABLE);    
     }
 
     DMA_Channel_TypeDef *channel = timerHardware->dmaChannel;
-    
+
+    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
+        
     DMA_Cmd(channel, DISABLE);
     DMA_DeInit(channel);
     DMA_StructInit(&DMA_InitStructure);
@@ -182,18 +195,15 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     DMA_InitStructure.DMA_BufferSize = MOTOR_DMA_BUFFER_SIZE;
     DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
     DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
-    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
-    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
+    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
     DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
     DMA_InitStructure.DMA_Priority = DMA_Priority_High;
     DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
 
-    TIM_DMACmd(timer, motor->timerDmaSource, ENABLE);
+    DMA_Init(channel, &DMA_InitStructure);
 
     DMA_ITConfig(channel, DMA_IT_TC, ENABLE);
-    DMA_Init(channel, &DMA_InitStructure);
-    
-    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
 }
 
-
+#endif
\ No newline at end of file
diff --git a/src/main/drivers/pwm_output_stm32f4xx.c b/src/main/drivers/pwm_output_stm32f4xx.c
index 28222200c..4f0baa546 100644
--- a/src/main/drivers/pwm_output_stm32f4xx.c
+++ b/src/main/drivers/pwm_output_stm32f4xx.c
@@ -28,6 +28,8 @@
 #include "system.h"
 #include "rcc.h"
 
+#ifdef USE_DSHOT
+
 #define MAX_DMA_TIMERS 8
 
 #define MOTOR_DSHOT600_MHZ    12
@@ -56,7 +58,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 {
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    value = (value - 1000) * 2;
+    value = (value <= 1000) ? 0 : ((value - 1000) * 2);
     motor->value = value;
 
     motor->dmaBuffer[0]  = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
@@ -117,7 +119,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
     
     IOInit(motorIO, OWNER_MOTOR, RESOURCE_OUTPUT, 0);
-    IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(timer));
+    IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
 
     if (configureTimer) {
         TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;    
@@ -213,4 +215,4 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
 }
 
-
+#endif
\ No newline at end of file
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index 2e1d85f2b..c82953b22 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -27,7 +27,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5, DMA1_Stream2, DMA_Channel_6, DMA1_ST2_HANDLER }, // S1_OUT
     { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5, DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER }, // S2_OUT
     { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // S3_OUT
-    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM9, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S4_OUT
+    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S4_OUT
     { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // S5_OUT
     { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // S6_OUT
 };
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
index c208a0e7b..f4802c88b 100644
--- a/src/main/target/BLUEJAYF4/target.mk
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -4,6 +4,5 @@ FEATURES        += SDCARD VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6500.c \
             drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c \
-            drivers/pwm_output_stm32f4xx.c
+            drivers/barometer_ms5611.c 
 
diff --git a/src/main/target/KISSFC/target.mk b/src/main/target/KISSFC/target.mk
index c346388e0..4b307e198 100644
--- a/src/main/target/KISSFC/target.mk
+++ b/src/main/target/KISSFC/target.mk
@@ -4,6 +4,5 @@ FEATURES    = VCP
 TARGET_SRC = \
             drivers/accgyro_mpu.c \
             drivers/display_ug2864hsweg01.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/pwm_output_stm32f3xx.c
+            drivers/accgyro_mpu6050.c 
 
diff --git a/src/main/target/OMNIBUS/target.c b/src/main/target/OMNIBUS/target.c
index ee0185282..c194fc975 100644
--- a/src/main/target/OMNIBUS/target.c
+++ b/src/main/target/OMNIBUS/target.c
@@ -21,18 +21,22 @@
 #include "drivers/io.h"
 
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // PPM Pad
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PPM - PB4
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // PPM - PB4
     // PB5 / TIM3 CH2 is connected to USBPresent
 
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM1 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM2 - PB9
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM3 - PA3
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM4 - PA2
+    { TIM8,  IO_TAG(PB8),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, DMA2_Channel5, DMA2_CH5_HANDLER },  // PWM1 - PB8
+    { TIM8,  IO_TAG(PB9),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, DMA2_Channel1, DMA2_CH1_HANDLER },  // PWM2 - PB9
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1,  DMA1_Channel7, DMA1_CH7_HANDLER },  // PWM3 - PA3
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_9,  DMA1_Channel5, DMA1_CH5_HANDLER },  // PWM4 - PA2
 
     // UART3 RX/TX
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM5  - PB10 - TIM2_CH3 / UART3_TX (AF7)
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6 - PB11 - TIM2_CH4 / UART3_RX (AF7)
+    //{ TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // PWM5  - PB10 - TIM2_CH3 / UART3_TX (AF7)
+    //{ TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // PWM6 - PB11 - TIM2_CH4 / UART3_RX (AF7)
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 },  // PWM7 - PB7
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 },  // PWM8 - PB6
+    //{ TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, DMA1_Channel2, DMA1_CH2_HANDLER },  // GPIO_TIMER / LED_STRIP
 };
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index 97a2c7c87..4b392c32f 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -140,6 +140,7 @@
 //#define RSSI_ADC_PIN                PB1
 //#define ADC_INSTANCE                ADC3
 
+#define USE_DSHOT
 
 #define LED_STRIP
 #define WS2811_PIN                      PA8
@@ -193,4 +194,4 @@
 #define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
 #define USABLE_TIMER_CHANNEL_COUNT 7 // PPM + 6 Outputs (2 shared with UART3)
-#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15))
diff --git a/src/main/target/OMNIBUSF4/target.c b/src/main/target/OMNIBUSF4/target.c
index b289fb5ee..5e63b9059 100644
--- a/src/main/target/OMNIBUSF4/target.c
+++ b/src/main/target/OMNIBUSF4/target.c
@@ -21,19 +21,20 @@
 #include "drivers/io.h"
 
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },// PPM (5th pin on FlexiIO port)
-    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },// S2_IN - GPIO_PartialRemap_TIM3
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S3_IN
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S4_IN
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S5_IN
-    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S6_IN
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12, NULL, 0, 0 }, // PPM (5th pin on FlexiIO port)
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12, NULL, 0, 0 }, // S2_IN - GPIO_PartialRemap_TIM3
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL, 0, 0 }, // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL, 0, 0 }, // S4_IN
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL, 0, 0 }, // S5_IN
+    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8,  NULL, 0, 0 }, // S6_IN
 
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S1_OUT
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S2_OUT
-    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S4_OUT
-    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,        1, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S6_OUT
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // S1_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // S2_OUT
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S4_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // S4_OUT
+    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5,  NULL, 0, 0 }, // S5_OUT - GPIO_PartialRemap_TIM3
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,        1, IOCFG_AF_PP, GPIO_AF_TIM1,  NULL, 0, 0 }, // S6_OUT
 };
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index 9fd6c180c..d1e205b8d 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -116,6 +116,8 @@
 #define VBAT_ADC_PIN            PC2
 //#define RSSI_ADC_PIN            PA0
 
+#define USE_DSHOT
+
 #define LED_STRIP
 // LED Strip can run off Pin 5 (PA1) of the MOTOR outputs.
 #define WS2811_PIN                      PA1
diff --git a/src/main/target/REVO/target.mk b/src/main/target/REVO/target.mk
index 0ff56bee7..2711b19da 100644
--- a/src/main/target/REVO/target.mk
+++ b/src/main/target/REVO/target.mk
@@ -4,5 +4,4 @@ FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
             drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            drivers/pwm_output_stm32f4xx.c
+            drivers/compass_hmc5883l.c

From 927a842d8ae473829d2ca54fc2d3572024f1cf4d Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Tue, 18 Oct 2016 23:01:11 +1100
Subject: [PATCH 6/6] FURYF3 fix and STM32F3DISCOVERY DSHOT

---
 src/main/drivers/pwm_output_stm32f3xx.c   | 21 +++++++++++-----
 src/main/target/FURYF3/target.c           | 10 ++++----
 src/main/target/FURYF3/target.h           |  2 +-
 src/main/target/STM32F3DISCOVERY/target.c | 29 ++++++++++++-----------
 src/main/target/STM32F3DISCOVERY/target.h |  2 ++
 5 files changed, 38 insertions(+), 26 deletions(-)

diff --git a/src/main/drivers/pwm_output_stm32f3xx.c b/src/main/drivers/pwm_output_stm32f3xx.c
index 30ac9dcc0..9fae6b555 100644
--- a/src/main/drivers/pwm_output_stm32f3xx.c
+++ b/src/main/drivers/pwm_output_stm32f3xx.c
@@ -137,12 +137,21 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     
     TIM_OCStructInit(&TIM_OCInitStructure);
     TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
-    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
-    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
-    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
-    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
-    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
-    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
+    if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
+        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
+        TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
+        TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
+        TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
+        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_Low;
+        TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
+    } else {
+        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+        TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
+        TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
+        TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
+        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
+        TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
+    }
     TIM_OCInitStructure.TIM_Pulse = 0;
 
     uint32_t timerChannelAddress = 0;
diff --git a/src/main/target/FURYF3/target.c b/src/main/target/FURYF3/target.c
index 5f2d3185b..504e3b6c2 100644
--- a/src/main/target/FURYF3/target.c
+++ b/src/main/target/FURYF3/target.c
@@ -27,12 +27,12 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 
     { TIM2,  IO_TAG(PB3),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // PPM IN
     { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // SS1 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // SS1 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM1,  IO_TAG(PB1),  TIM_Channel_3, TIM1_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_6, NULL, 0 }, // SS1 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  DMA1_Channel4, DMA1_CH4_HANDLER }, // PWM4 - S1
-    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,  DMA1_Channel1, DMA1_CH1_HANDLER }, // PWM5 - S2
-    { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, DMA1_Channel7, DMA1_CH7_HANDLER }, // PWM6 - S3
-    { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1,  DMA1_Channel3, DMA1_CH3_HANDLER }, // PWM7 - S4
+    { TIM3,  IO_TAG(PB7),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10,  DMA1_Channel3, DMA1_CH3_HANDLER }, // PWM4 - S1
+    { TIM8,  IO_TAG(PB6),  TIM_Channel_1, TIM8_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_5,   DMA2_Channel3, DMA2_CH3_HANDLER }, // PWM5 - S2
+    { TIM8,  IO_TAG(PB5),  TIM_Channel_3, TIM8_CC_IRQn, (1 | TIMER_OUTPUT_N_CHANNEL), IOCFG_AF_PP, GPIO_AF_3,   DMA2_Channel1, DMA2_CH1_HANDLER }, // PWM6 - S3
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2,   DMA1_Channel6, DMA1_CH6_HANDLER }, // PWM7 - S4
 
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, NULL, 0 }, // GPIO TIMER - LED_STRIP
 
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index beb71269e..f8c74899e 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -176,5 +176,5 @@
 #define TARGET_IO_PORTF         (BIT(4))
 
 #define USABLE_TIMER_CHANNEL_COUNT 8
-#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(16) | TIM_N(17))
 
diff --git a/src/main/target/STM32F3DISCOVERY/target.c b/src/main/target/STM32F3DISCOVERY/target.c
index 182056592..8cd9a3584 100644
--- a/src/main/target/STM32F3DISCOVERY/target.c
+++ b/src/main/target/STM32F3DISCOVERY/target.c
@@ -21,21 +21,22 @@
 #include "drivers/io.h"
 
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_6 }, // PWM1 - PA8
-    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM2 - PB8
-    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1 }, // PWM3 - PB9
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM4 - PC6
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM5 - PC7
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4 }, // PWM6 - PC8
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2 }, // PWM7 - PB1
-    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2 }, // PWM8 - PA2
-    { TIM4,  IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM9 - PD12
-    { TIM4,  IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM10 - PD13
-    { TIM4,  IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM11 - PD14
-    { TIM4,  IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2 }, // PWM12 - PD15
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }, // PWM13 - PA1
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1 }  // PWM14 - PA2
+    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      0, IOCFG_AF_PP_PD, GPIO_AF_1, NULL, 0 }, 
+    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_1, NULL, 0 }, 
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_6, DMA1_Channel2, DMA1_CH2_HANDLER }, 
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, DMA2_Channel3, DMA2_CH3_HANDLER }, 
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, DMA2_Channel5, DMA2_CH5_HANDLER }, 
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,            1, IOCFG_AF_PP_PD, GPIO_AF_4, DMA2_Channel1, DMA2_CH1_HANDLER }, 
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, NULL, 0 }, 
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP_PD, GPIO_AF_2, NULL, 0 }, 
+    { TIM4,  IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, NULL, 0 }, 
+    { TIM4,  IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, NULL, 0 }, 
+    { TIM4,  IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, NULL, 0 }, 
+    { TIM4,  IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_2, NULL, 0 }, 
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, NULL, 0 }, 
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP,    GPIO_AF_1, NULL, 0 }  
 };
 
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index 9cba1c51f..687fa1924 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -164,6 +164,8 @@
 #define RSSI_ADC_PIN            PC2
 #define EXTERNAL1_ADC_PIN       PC3
 
+#define USE_DSHOT 
+
 #define LED_STRIP
 #define WS2811_PIN                      PB8 // TIM16_CH1
 #define WS2811_TIMER                    TIM16