diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
index 5deca99a29..0236f3db3f 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -4810,6 +4810,14 @@ dmaoptEntry_t dmaoptEntryTable[] = {
 #define DMA_OPT_UI_INDEX(i) ((i) + 1)
 #define DMA_OPT_STRING_BUFSIZE 5
 
+#ifdef STM32H7
+#define DMA_CHANREQ_STRING "Request"
+#else
+#define DMA_CHANREQ_STRING "Channel"
+#endif
+
+#define DMASPEC_FORMAT_STRING "DMA%d Stream %d " DMA_CHANREQ_STRING " %d"
+
 static void optToString(int optval, char *buf)
 {
     if (optval == DMA_OPT_UNUSED) {
@@ -4832,7 +4840,7 @@ static void printPeripheralDmaoptDetails(dmaoptEntry_t *entry, int index, const
             dmaCode = dmaChannelSpec->code;
         }
         printValue(dumpMask, equalsDefault,
-            "# %s %d: DMA%d Stream %d Channel %d",
+            "# %s %d: " DMASPEC_FORMAT_STRING,
             entry->device, DMA_OPT_UI_INDEX(index), DMA_CODE_CONTROLLER(dmaCode), DMA_CODE_STREAM(dmaCode), DMA_CODE_CHANNEL(dmaCode));
     } else if (!(dumpMask & HIDE_UNUSED)) {
         printValue(dumpMask, equalsDefault,
@@ -4892,7 +4900,7 @@ static void printTimerDmaoptDetails(const ioTag_t ioTag, const timerHardware_t *
             if (dmaChannelSpec) {
                 dmaCode = dmaChannelSpec->code;
                 printValue(dumpMask, false,
-                    "# pin %c%02d: DMA%d Stream %d Channel %d",
+                    "# pin %c%02d: " DMASPEC_FORMAT_STRING,
                     IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag),
                     DMA_CODE_CONTROLLER(dmaCode), DMA_CODE_STREAM(dmaCode), DMA_CODE_CHANNEL(dmaCode)
                 );
@@ -5077,11 +5085,11 @@ static void cliDmaopt(char *cmdline)
         const dmaChannelSpec_t *dmaChannelSpec;
         if (entry) {
             for (int opt = 0; (dmaChannelSpec = dmaGetChannelSpecByPeripheral(entry->peripheral, index, opt)); opt++) {
-                cliPrintLinef("# %d: DMA%d Stream %d channel %d", opt, DMA_CODE_CONTROLLER(dmaChannelSpec->code), DMA_CODE_STREAM(dmaChannelSpec->code), DMA_CODE_CHANNEL(dmaChannelSpec->code));
+                cliPrintLinef("# %d: " DMASPEC_FORMAT_STRING, opt, DMA_CODE_CONTROLLER(dmaChannelSpec->code), DMA_CODE_STREAM(dmaChannelSpec->code), DMA_CODE_CHANNEL(dmaChannelSpec->code));
             }
         } else {
             for (int opt = 0; (dmaChannelSpec = dmaGetChannelSpecByTimerValue(timer->tim, timer->channel, opt)); opt++) {
-                cliPrintLinef("# %d: DMA%d Stream %d channel %d", opt, DMA_CODE_CONTROLLER(dmaChannelSpec->code), DMA_CODE_STREAM(dmaChannelSpec->code), DMA_CODE_CHANNEL(dmaChannelSpec->code));
+                cliPrintLinef("# %d: " DMASPEC_FORMAT_STRING, opt, DMA_CODE_CONTROLLER(dmaChannelSpec->code), DMA_CODE_STREAM(dmaChannelSpec->code), DMA_CODE_CHANNEL(dmaChannelSpec->code));
             }
         }
 
diff --git a/src/main/drivers/dma_reqmap.c b/src/main/drivers/dma_reqmap.c
index 6e79b15cb5..1080a03c8e 100644
--- a/src/main/drivers/dma_reqmap.c
+++ b/src/main/drivers/dma_reqmap.c
@@ -122,7 +122,6 @@ static const dmaPeripheralMapping_t dmaPeripheralMapping[] = {
 
 #define TC(chan) DEF_TIM_CHANNEL(CH_ ## chan)
 
-//#define REQMAP_TIM(tim, chan) { tim, TC(chan), DEF_TIM_DMA_REQ__BTCH_ ## tim ## _ ## chan }
 #define REQMAP_TIM(tim, chan) { tim, TC(chan), DMA_REQUEST_ ## tim ## _ ## chan }
 
 static const dmaTimerMapping_t dmaTimerMapping[] = {
@@ -444,14 +443,20 @@ const dmaChannelSpec_t *dmaGetChannelSpecByTimer(const timerHardware_t *timer)
     return dmaGetChannelSpecByTimerValue(timer->tim, timer->channel, dmaopt);
 }
 
+// dmaGetOptionByTimer is called by pgResetFn_timerIOConfig to find out dmaopt for pre-configured timer.
+
 dmaoptValue_t dmaGetOptionByTimer(const timerHardware_t *timer)
 {
+#if defined(STM32H7)
+    for (unsigned opt = 0; opt < ARRAYLEN(dmaChannelSpec); opt++) {
+        if (timer->dmaRefConfigured == dmaChannelSpec[opt].ref) {
+                return (dmaoptValue_t)opt;
+        }
+    }
+#else
     for (unsigned i = 0 ; i < ARRAYLEN(dmaTimerMapping); i++) {
         const dmaTimerMapping_t *timerMapping = &dmaTimerMapping[i];
         if (timerMapping->tim == timer->tim && timerMapping->channel == timer->channel) {
-#if defined(STM32H7)
-            return timerMapping->dmaRequest;
-#else
             for (unsigned j = 0; j < MAX_TIMER_DMA_OPTIONS; j++) {
                 const dmaChannelSpec_t *dma = &timerMapping->channelSpec[j];
                 if (dma->ref == timer->dmaRefConfigured
@@ -462,9 +467,9 @@ dmaoptValue_t dmaGetOptionByTimer(const timerHardware_t *timer)
                     return j;
                 }
             }
-#endif
         }
     }
+#endif
 
     return DMA_OPT_UNUSED;
 }
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index e30300b834..a500ca204d 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -187,6 +187,10 @@ extern const timerHardware_t timerHardware[];
 
 #define FULL_TIMER_CHANNEL_COUNT 78
 
+#elif defined(STM32H7)
+
+#define FULL_TIMER_CHANNEL_COUNT 87
+
 #endif
 
 extern const timerHardware_t fullTimerHardware[];
@@ -206,6 +210,10 @@ extern const timerHardware_t fullTimerHardware[];
 
 #define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
 
+#elif defined(STM32H7)
+
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(12) | TIM_N(13) | TIM_N(14) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+
 #else
     #error "No timer / channel tag definition found for CPU"
 #endif
diff --git a/src/main/drivers/timer_def.h b/src/main/drivers/timer_def.h
index 662726fbbd..2178be5bc4 100644
--- a/src/main/drivers/timer_def.h
+++ b/src/main/drivers/timer_def.h
@@ -718,7 +718,7 @@
 #elif defined(STM32H7)
 #define DEF_TIM(tim, chan, pin, flags, out, dmaopt, upopt) {            \
     tim,                                                                \
-    IO_TAG(pin),                                                        \
+    TIMER_GET_IO_TAG(pin),                                              \
     DEF_TIM_CHANNEL(CH_ ## chan),                                       \
     flags,                                                              \
     (DEF_TIM_OUTPUT(CH_ ## chan) | out),                                \
diff --git a/src/main/drivers/timer_stm32h7xx.c b/src/main/drivers/timer_stm32h7xx.c
index a5ad78347f..8d8179ae20 100644
--- a/src/main/drivers/timer_stm32h7xx.c
+++ b/src/main/drivers/timer_stm32h7xx.c
@@ -24,6 +24,10 @@
 
 #include "common/utils.h"
 
+#include "drivers/dma.h"
+#include "drivers/io.h"
+#include "drivers/timer_def.h"
+
 #include "stm32h7xx.h"
 #include "rcc.h"
 #include "timer.h"
@@ -45,6 +49,116 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     { .TIMx = TIM17, .rcc = RCC_APB2(TIM17),  .inputIrq = TIM17_IRQn},
 };
 
+#if defined(USE_TIMER_MGMT)
+const timerHardware_t fullTimerHardware[FULL_TIMER_CHANNEL_COUNT] = {
+// Auto-generated from 'timer_def.h'
+// Port A
+    DEF_TIM(TIM2, CH1, PA0, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH2, PA1, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH3, PA2, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH4, PA3, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH1, PA5, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH1N, PA7, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH2, PA9, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH4, PA11, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH1, PA6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH2, PA7, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM8, CH1N, PA5, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM8, CH1N, PA7, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM13, CH1, PA6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM14, CH1, PA7, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM15, CH1N, PA1, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM15, CH1, PA2, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM15, CH2, PA2, TIM_USE_ANY, 0, 0, 0),
+
+// Port B
+    DEF_TIM(TIM1, CH2N, PB0, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH3N, PB1, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM16, CH1N, PB6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM17, CH1N, PB7, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM16, CH1, PB8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM17, CH1, PB9, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH3, PB10, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM2, CH4, PB11, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH1N, PB13, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH2N, PB14, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH3N, PB15, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH1, PB4, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM4, CH4, PB9, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM12, CH1, PB14, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY, 0, 0, 0),
+
+// Port C
+    DEF_TIM(TIM3, CH1, PC6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH3, PC8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM3, CH4, PC9, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM8, CH1, PC6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM8, CH2, PC7, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_ANY, 0, 0, 0),
+
+// Port D
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_ANY, 0, 0, 0),
+
+// Port E
+    DEF_TIM(TIM1, CH1N, PE8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH1, PE9, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH2N, PE10, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH3N, PE12, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH3, PE13, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM1, CH4, PE14, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM15, CH1N, PE4, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM15, CH1, PE5, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM15, CH2, PE6, TIM_USE_ANY, 0, 0, 0),
+
+// Port F
+    DEF_TIM(TIM16, CH1, PF6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM17, CH1, PF7, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM16, CH1N, PF8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM17, CH1N, PF9, TIM_USE_ANY, 0, 0, 0),
+
+    DEF_TIM(TIM13, CH1N, PF8, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM14, CH1N, PF9, TIM_USE_ANY, 0, 0, 0),
+
+// Port H
+    DEF_TIM(TIM12, CH1, PH6, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM12, CH2, PH9, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM5, CH1, PH10, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM5, CH2, PH11, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM5, CH3, PH12, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM8, CH1N, PH13, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM8, CH2N, PH14, TIM_USE_ANY, 0, 0, 0),
+    DEF_TIM(TIM8, CH3N, PH15, TIM_USE_ANY, 0, 0, 0),
+};
+#endif
+
 uint32_t timerClock(TIM_TypeDef *tim)
 {
     int timpre;
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 2c26df5d05..0ce7f5f5bb 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -105,6 +105,7 @@
 #define USE_ADC_INTERNAL
 #define USE_USB_CDC_HID
 #define USE_DMA_SPEC
+#define USE_TIMER_MGMT
 #endif
 
 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)