diff --git a/src/main/drivers/bus_i2c_config.c b/src/main/drivers/bus_i2c_config.c
index c633a27b02..0119c11b7c 100644
--- a/src/main/drivers/bus_i2c_config.c
+++ b/src/main/drivers/bus_i2c_config.c
@@ -73,13 +73,13 @@ void i2cHardwareConfigure(const i2cConfig_t *i2cConfig)
         for (int pindex = 0 ; pindex < I2C_PIN_SEL_MAX ; pindex++) {
             if (i2cConfig[device].ioTagScl == hardware->sclPins[pindex].ioTag) {
                 pDev->scl = IOGetByTag(i2cConfig[device].ioTagScl);
-#if defined(STM32F4)
+#if defined(STM32F4) || defined(STM32H7)
                 pDev->sclAF = hardware->sclPins[pindex].af;
 #endif
             }
             if (i2cConfig[device].ioTagSda == hardware->sdaPins[pindex].ioTag) {
                 pDev->sda = IOGetByTag(i2cConfig[device].ioTagSda);
-#if defined(STM32F4)
+#if defined(STM32F4) || defined(STM32H7)
                 pDev->sdaAF = hardware->sdaPins[pindex].af;
 #endif
             }
diff --git a/src/main/drivers/bus_i2c_hal.c b/src/main/drivers/bus_i2c_hal.c
index 46691a7784..309615ea0c 100644
--- a/src/main/drivers/bus_i2c_hal.c
+++ b/src/main/drivers/bus_i2c_hal.c
@@ -56,6 +56,7 @@ static void i2cUnstick(IO_t scl, IO_t sda);
 #define GPIO_AF4_I2C GPIO_AF4_I2C1
 
 const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
+#if defined(STM32F7)
 #ifdef USE_I2C_DEVICE_1
     {
         .device = I2CDEV_1,
@@ -100,6 +101,52 @@ const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
         .er_irq = I2C4_ER_IRQn,
     },
 #endif
+#elif defined(STM32H7)
+#ifdef USE_I2C_DEVICE_1
+    {
+        .device = I2CDEV_1,
+        .reg = I2C1,
+        .sclPins = { I2CPINDEF(PB6, GPIO_AF4_I2C1), I2CPINDEF(PB8, GPIO_AF4_I2C1) },
+        .sdaPins = { I2CPINDEF(PB7, GPIO_AF4_I2C1), I2CPINDEF(PB9, GPIO_AF4_I2C1) },
+        .rcc = RCC_APB1L(I2C1),
+        .ev_irq = I2C1_EV_IRQn,
+        .er_irq = I2C1_ER_IRQn,
+    },
+#endif
+#ifdef USE_I2C_DEVICE_2
+    {
+        .device = I2CDEV_2,
+        .reg = I2C2,
+        .sclPins = { I2CPINDEF(PB10, GPIO_AF4_I2C2), I2CPINDEF(PF1, GPIO_AF4_I2C2) },
+        .sdaPins = { I2CPINDEF(PB11, GPIO_AF4_I2C2), I2CPINDEF(PF0, GPIO_AF4_I2C2) },
+        .rcc = RCC_APB1L(I2C2),
+        .ev_irq = I2C2_EV_IRQn,
+        .er_irq = I2C2_ER_IRQn,
+    },
+#endif
+#ifdef USE_I2C_DEVICE_3
+    {
+        .device = I2CDEV_3,
+        .reg = I2C3,
+        .sclPins = { I2CPINDEF(PA8, GPIO_AF4_I2C3) },
+        .sdaPins = { I2CPINDEF(PC9, GPIO_AF4_I2C3) },
+        .rcc = RCC_APB1L(I2C3),
+        .ev_irq = I2C3_EV_IRQn,
+        .er_irq = I2C3_ER_IRQn,
+    },
+#endif
+#ifdef USE_I2C_DEVICE_4
+    {
+        .device = I2CDEV_4,
+        .reg = I2C4,
+        .sclPins = { I2CPINDEF(PD12, GPIO_AF4_I2C4), I2CPINDEF(PF14, GPIO_AF4_I2C4), I2CPINDEF(PB6, GPIO_AF6_I2C4), I2CPINDEF(PB8, GPIO_AF6_I2C4) },
+        .sdaPins = { I2CPINDEF(PD13, GPIO_AF4_I2C4), I2CPINDEF(PF15, GPIO_AF4_I2C4), I2CPINDEF(PB7, GPIO_AF6_I2C4), I2CPINDEF(PB9, GPIO_AF6_I2C4) },
+        .rcc = RCC_APB1L(I2C4),
+        .ev_irq = I2C4_EV_IRQn,
+        .er_irq = I2C4_ER_IRQn,
+    },
+#endif
+#endif
 };
 
 i2cDevice_t i2cDevice[I2CDEV_COUNT];
@@ -250,9 +297,12 @@ void i2cInit(I2CDevice device)
     i2cUnstick(scl, sda);
 
     // Init pins
-#ifdef STM32F7
+#if defined(STM32F7)
     IOConfigGPIOAF(scl, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF4_I2C);
     IOConfigGPIOAF(sda, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF4_I2C);
+#elif defined(STM32H7)
+    IOConfigGPIOAF(scl, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, pDev->sclAF);
+    IOConfigGPIOAF(sda, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, pDev->sdaAF);
 #else
     IOConfigGPIO(scl, IOCFG_AF_OD);
     IOConfigGPIO(sda, IOCFG_AF_OD);
diff --git a/src/main/drivers/bus_i2c_impl.h b/src/main/drivers/bus_i2c_impl.h
index 34c5ea503e..cf5c2b8fd2 100644
--- a/src/main/drivers/bus_i2c_impl.h
+++ b/src/main/drivers/bus_i2c_impl.h
@@ -33,12 +33,12 @@
 
 typedef struct i2cPinDef_s {
     ioTag_t ioTag;
-#if defined(STM32F4)
+#if defined(STM32F4) || defined(STM32H7)
     uint8_t af;
 #endif
 } i2cPinDef_t;
 
-#if defined(STM32F4)
+#if defined(STM32F4) || defined(STM32H7)
 #define I2CPINDEF(pin, af) { DEFIO_TAG_E(pin), af }
 #elif defined(STM32F1)
 #define I2CPINDEF(pin, af) { DEFIO_TAG_E(pin) }
@@ -79,7 +79,7 @@ typedef struct i2cDevice_s {
     I2C_TypeDef *reg;
     IO_t scl;
     IO_t sda;
-#ifdef STM32F4
+#if defined(STM32F4) || defined(STM32H7)
     uint8_t sclAF;
     uint8_t sdaAF;
 #endif