diff --git a/Makefile b/Makefile
index 7be4e6a6d2..c6d2c6463d 100644
--- a/Makefile
+++ b/Makefile
@@ -15,7 +15,7 @@
 # Things that the user might override on the commandline
 #
 
-# The target to build, see BASE_TARGETS/EXE_TARGETS below
+# The target or config to build
 TARGET    ?=
 CONFIG    ?=
 
@@ -57,7 +57,11 @@ CFLAGS_DISABLED         :=
 FORKNAME      = betaflight
 
 # Working directories
+# ROOT_DIR is the full path to the directory containing this Makefile
+ROOT_DIR        := $(realpath $(dir $(abspath $(lastword $(MAKEFILE_LIST)))))
+# ROOT is the relative path to the directory containing this Makefile
 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
+
 PLATFORM_DIR	:= $(ROOT)/src/platform
 SRC_DIR         := $(ROOT)/src/main
 LIB_MAIN_DIR    := $(ROOT)/lib/main
@@ -90,12 +94,9 @@ MAKE_PARALLEL 		     = $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PAR
 # pre-build sanity checks
 include $(MAKE_SCRIPT_DIR)/checks.mk
 
-# list of targets that  are executed on host (using exe as goal)
-EXE_TARGETS      := SITL
-
 # basic target list
 PLATFORMS        := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
-BASE_TARGETS     := $(filter-out $(EXE_TARGETS),$(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk))))))
+BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
 
 # configure some directories that are relative to wherever ROOT_DIR is located
 TOOLS_DIR  ?= $(ROOT)/tools
@@ -126,7 +127,7 @@ FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk
 
 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 
-# import config handling
+# import config handling (must occur after the hydration of hex, exe and uf2 targets)
 include $(MAKE_SCRIPT_DIR)/config.mk
 
 # default xtal value
@@ -134,7 +135,7 @@ HSE_VALUE       ?= 8000000
 
 CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exclude)))))
 CI_COMMON_TARGETS   := STM32F4DISCOVERY CRAZYBEEF4SX1280 CRAZYBEEF4FR MATEKF405TE AIRBOTG4AIO TBS_LUCID_FC IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF
-CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS) $(EXE_TARGETS)) $(filter $(CI_COMMON_TARGETS), $(BASE_CONFIGS))
+CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS) $(filter $(CI_COMMON_TARGETS), $(BASE_CONFIGS)))
 PREVIEW_TARGETS     := MATEKF411 AIKONF4V2 AIRBOTG4AIO ZEEZF7V3 FOXEERF745V4_AIO KAKUTEH7 TBS_LUCID_FC SITL SPRACINGH7EXTREME SPRACINGH7RF
 
 TARGET_PLATFORM     := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(dir $(wildcard $(PLATFORM_DIR)/*/target/$(TARGET)/target.mk)))))
@@ -142,7 +143,8 @@ TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
 LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
 
 ifneq ($(TARGET),)
-include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
+TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
+include $(TARGET_DIR)/target.mk
 endif
 
 REVISION := norevision
@@ -221,24 +223,17 @@ ifneq ($(HSE_VALUE),)
 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 endif
 
-TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
 endif # TARGET specified
 
+ifeq ($(or $(CONFIG),$(TARGET)),)
+.DEFAULT_GOAL := all
+else
+.DEFAULT_GOAL := fwo
+endif
+
 # openocd specific includes
 include $(MAKE_SCRIPT_DIR)/openocd.mk
 
-ifeq ($(CONFIG),)
-ifeq ($(TARGET),)
-.DEFAULT_GOAL := all
-else ifneq ($(filter $(TARGET),$(EXE_TARGETS)),)
-.DEFAULT_GOAL := exe
-else
-.DEFAULT_GOAL := hex
-endif
-else  # ifeq ($(CONFIG),)
-.DEFAULT_GOAL := hex
-endif
-
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(ROOT)/lib/main/MAVLink
 
@@ -364,6 +359,12 @@ CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
                   $(addprefix -isystem,$(SYS_INCLUDE_DIRS)) \
                   -I/usr/include -I/usr/include/linux
 
+ifneq ($(filter fwo hex uf2 bin elf zip, $(MAKECMDGOALS)),)
+    ifeq ($(TARGET),)
+        $(error "You must specify a target to build.")
+    endif
+endif
+
 TARGET_NAME := $(TARGET)
 
 ifneq ($(CONFIG),)
@@ -378,21 +379,22 @@ TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 #
 # Things we will build
 #
-TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
-TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
-TARGET_EXE      = $(BIN_DIR)/$(TARGET_FULLNAME)
-TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
-TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
-TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
-TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
-TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
-TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
-TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
-TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
-TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
-TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
+TARGET_BIN      := $(BIN_DIR)/$(TARGET_FULLNAME).bin
+TARGET_HEX      := $(BIN_DIR)/$(TARGET_FULLNAME).hex
+TARGET_UF2      := $(BIN_DIR)/$(TARGET_FULLNAME).uf2
+TARGET_EXE      := $(BIN_DIR)/$(TARGET_FULLNAME)
+TARGET_DFU      := $(BIN_DIR)/$(TARGET_FULLNAME).dfu
+TARGET_ZIP      := $(BIN_DIR)/$(TARGET_FULLNAME).zip
+TARGET_OBJ_DIR  := $(OBJECT_DIR)/$(TARGET_NAME)
+TARGET_ELF      := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
+TARGET_EXST_ELF := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
+TARGET_UNPATCHED_BIN := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
+TARGET_LST      := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
+TARGET_OBJS     := $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
+TARGET_DEPS     := $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
+TARGET_MAP      := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 
-TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
+TARGET_EXST_HASH_SECTION_FILE := $(TARGET_OBJ_DIR)/exst_hash_section.bin
 
 ifeq ($(DEBUG_MIXED),yes)
 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
@@ -407,6 +409,7 @@ CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 CLEAN_ARTIFACTS += $(TARGET_LST)
 CLEAN_ARTIFACTS += $(TARGET_DFU)
+CLEAN_ARTIFACTS += $(TARGET_UF2)
 
 # Make sure build date and revision is updated on every incremental build
 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
@@ -482,8 +485,12 @@ $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 	$(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 	$(V1) $(SIZE) $(TARGET_ELF)
 
+$(TARGET_UF2): $(TARGET_ELF)
+	@echo "Creating UF2 $(TARGET_UF2)" "$(STDOUT)"
+	$(V1) $(PICOTOOL) uf2 convert $< $@ || { echo "Failed to convert ELF to UF2 format"; exit 1; }
+
 $(TARGET_EXE): $(TARGET_ELF)
-	@echo Copy $< to $@ "$(STDOUT)"
+	@echo "Creating exe - copying $< to $@" "$(STDOUT)"
 	$(V1) cp $< $@
 
 # Compile
@@ -539,17 +546,11 @@ $(TARGET_OBJ_DIR)/%.o: %.S
 ## all               : Build all currently built targets
 all: $(CI_TARGETS)
 
+.PHONY: $(BASE_TARGETS)
 $(BASE_TARGETS):
-	$(V0) @echo "Building target $@" && \
-	$(MAKE) hex TARGET=$@ && \
-	echo "Building $@ succeeded."
+	$(MAKE) fwo TARGET=$@
 
-$(EXE_TARGETS):
-	$(V0) @echo "Building executable target $@" && \
-	$(MAKE) exe TARGET=$@ && \
-	echo "Building $@ succeeded."
-
-TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS) $(EXE_TARGETS))
+TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 
 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 
@@ -625,39 +626,56 @@ endif
 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 
 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
+.PHONY: $(TARGETS_ZIP)
 $(TARGETS_ZIP):
-	$(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
-	$(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) zip TARGET=$(subst _zip,,$@)
 
-zip:
-	$(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
+.PHONY: zip
+zip: $(TARGET_HEX)
+	$(V1) zip $(TARGET_ZIP) $(TARGET_HEX)
 
+.PHONY: binary
 binary:
-	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
 
+.PHONY: hex
 hex:
-	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
 
-.phony: exe
+.PHONY: uf2
+uf2:
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2)
+
+.PHONY: exe
 exe: $(TARGET_EXE)
 
-TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
+# FWO (Firmware Output) is the default output for building the firmware
+.PHONY: fwo
+fwo:
+ifeq ($(DEFAULT_OUTPUT),exe)
+	$(V1) $(MAKE) exe
+else ifeq ($(DEFAULT_OUTPUT),uf2)
+	$(V1) $(MAKE) uf2
+else
+	$(V1) $(MAKE) hex
+endif
+
+TARGETS_REVISION = $(addsuffix _rev, $(BASE_TARGETS))
 ## <TARGET>_rev    : build target and add revision to filename
+.PHONY: $(TARGETS_REVISION)
 $(TARGETS_REVISION):
-	$(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
+	$(V1) $(MAKE) fwo REV=yes TARGET=$(subst _rev,,$@)
 
-EXE_TARGETS_REVISION = $(addsuffix _rev,$(EXE_TARGETS))
-## <EXE_TARGET>_rev : build executable target and add revision to filename
-$(EXE_TARGETS_REVISION):
-	$(V0) $(MAKE) exe REV=yes TARGET=$(subst _rev,,$@)
-
-all_rev: $(addsuffix _rev,$(CI_TARGETS))
+.PHONY: all_rev
+all_rev: $(addsuffix _rev, $(CI_TARGETS))
 
+.PHONY: unbrick_$(TARGET)
 unbrick_$(TARGET): $(TARGET_HEX)
 	$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 	$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
 ## unbrick           : unbrick flight controller
+.PHONY: unbrick
 unbrick: unbrick_$(TARGET)
 
 ## cppcheck          : run static analysis on C source code
@@ -690,7 +708,7 @@ help: Makefile mk/tools.mk
 	@echo "To populate configuration targets:"
 	@echo "        make configs"
 	@echo ""
-	@echo "Valid TARGET values are: $(EXE_TARGETS) $(BASE_TARGETS)"
+	@echo "Valid TARGET values are: $(BASE_TARGETS)"
 	@echo ""
 	@sed -n 's/^## //p' $?
 
@@ -698,7 +716,6 @@ help: Makefile mk/tools.mk
 targets:
 	@echo "Platforms:           $(PLATFORMS)"
 	@echo "Valid targets:       $(BASE_TARGETS)"
-	@echo "Executable targets:  $(EXE_TARGETS)"
 	@echo "Built targets:       $(CI_TARGETS)"
 	@echo "Default target:      $(TARGET)"
 	@echo "CI common targets:   $(CI_COMMON_TARGETS)"
diff --git a/mk/build_verbosity.mk b/mk/build_verbosity.mk
index 9d2f5dc3f3..c1c6206b43 100644
--- a/mk/build_verbosity.mk
+++ b/mk/build_verbosity.mk
@@ -9,6 +9,7 @@ ifndef V
 export V0    :=
 export V1    := $(AT)
 export STDOUT   :=
+export MAKE  := $(MAKE) --no-print-directory
 else ifeq ($(V), 0)
 export V0    := $(AT)
 export V1    := $(AT)
diff --git a/mk/config.mk b/mk/config.mk
index 5f85d4987d..d1c9e54c65 100644
--- a/mk/config.mk
+++ b/mk/config.mk
@@ -57,21 +57,23 @@ endif #config
 .PHONY: configs
 configs:
 ifeq ($(shell realpath $(CONFIG_DIR)),$(shell realpath $(CONFIGS_SUBMODULE_DIR)))
-	git submodule update --init --remote -- $(CONFIGS_SUBMODULE_DIR)
+	@echo "Updating config submodule: $(CONFIGS_SUBMODULE_DIR)"
+	$(V1) git submodule update --init -- $(CONFIGS_SUBMODULE_DIR) || { echo "Config submodule update failed. Please check your git configuration."; exit 1; }
+	@echo "Submodule update succeeded."
 else
 ifeq ($(wildcard $(CONFIG_DIR)),)
 	@echo "Hydrating clone for configs: $(CONFIG_DIR)"
-	$(V0) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
+	$(V1) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
 else
-	$(V0) git -C $(CONFIG_DIR) pull origin
+	$(V1) git -C $(CONFIG_DIR) pull origin
 endif
 endif
 
 $(BASE_CONFIGS):
 	@echo "Building target config $@"
-	$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$@
+	$(V0) $(MAKE) fwo CONFIG=$@
 	@echo "Building target config $@ succeeded."
 
 ## <CONFIG>_rev    : build configured target and add revision to filename
 $(addsuffix _rev,$(BASE_CONFIGS)):
-	$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$(subst _rev,,$@) REV=yes
+	$(V0) $(MAKE) fwo CONFIG=$(subst _rev,,$@) REV=yes
diff --git a/mk/source.mk b/mk/source.mk
index 13e55fb4d6..ad3f7e4fc4 100644
--- a/mk/source.mk
+++ b/mk/source.mk
@@ -299,6 +299,7 @@ COMMON_SRC += \
             drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/accgyro/accgyro_spi_icm456xx.c \
+            drivers/accgyro/accgyro_spi_icm40609.c \
             drivers/accgyro/accgyro_spi_l3gd20.c \
             drivers/accgyro/accgyro_spi_lsm6dso.c \
             drivers/accgyro/accgyro_spi_lsm6dso_init.c \
diff --git a/mk/tools.mk b/mk/tools.mk
index 3dc42ab47a..0b53aedecb 100644
--- a/mk/tools.mk
+++ b/mk/tools.mk
@@ -331,3 +331,54 @@ breakpad_clean:
 	$(V1) [ ! -d "$(BREAKPAD_DIR)" ] || $(RM) -rf $(BREAKPAD_DIR)
 	@echo " CLEAN        $(BREAKPAD_DL_FILE)"
 	$(V1) $(RM) -f $(BREAKPAD_DL_FILE)
+
+# Raspberry Pi Pico tools
+PICOTOOL_REPO   := https://github.com/raspberrypi/picotool.git
+PICOTOOL_DL_DIR := $(DL_DIR)/picotool
+PICOTOOL_BUILD_DIR := $(PICOTOOL_DL_DIR)/build
+PICOTOOL_DIR    := $(TOOLS_DIR)/picotool
+PICO_SDK_PATH   ?= $(ROOT_DIR)/lib/main/pico-sdk
+PICOTOOL        ?= $(PICOTOOL_DIR)/picotool
+
+ifneq ($(filter picotool_install uf2,$(MAKECMDGOALS)),)
+    ifeq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),)
+        $(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make pico_sdk' to hydrate the Pico SDK.")
+    endif
+endif
+
+ifneq ($(filter uf2,$(MAKECMDGOALS)),)
+    ifeq (,$(wildcard $(PICOTOOL)))
+        ifeq (,$(shell which picotool 2>/dev/null))
+            $(error "picotool not in the PATH or configured. Run 'make picotool_install' to install in the tools folder.")
+        else
+            PICOTOOL := picotool
+        endif
+    endif
+endif
+
+.PHONY: pico_sdk
+pico_sdk:
+	@echo "Updating pico-sdk"
+	$(V1) git submodule update --init --recursive -- lib/main/pico-sdk || { echo "Failed to update pico-sdk"; exit 1; }
+	@echo "pico-sdk updated"
+
+.PHONY: picotool_install
+picotool_install: | $(DL_DIR) $(TOOLS_DIR)
+picotool_install: picotool_clean
+	@echo "\n CLONE     $(PICOTOOL_REPO)"
+	$(V1) git clone --depth 1 $(PICOTOOL_REPO) "$(PICOTOOL_DL_DIR)" || { echo "Failed to clone picotool repository"; exit 1; }
+	@echo "\n BUILD      $(PICOTOOL_BUILD_DIR)"
+	$(V1) [ -d "$(PICOTOOL_DIR)" ] || mkdir -p $(PICOTOOL_DIR)
+	$(V1) [ -d "$(PICOTOOL_BUILD_DIR)" ] || mkdir -p $(PICOTOOL_BUILD_DIR)
+	$(V1) cmake -S $(PICOTOOL_DL_DIR) -B $(PICOTOOL_BUILD_DIR) -D PICO_SDK_PATH=$(PICO_SDK_PATH) || { echo "CMake configuration failed"; exit 1; }
+	$(V1) $(MAKE) -C $(PICOTOOL_BUILD_DIR) || { echo "picotool build failed"; exit 1; }
+	$(V1) cp $(PICOTOOL_BUILD_DIR)/picotool $(PICOTOOL_DIR)/picotool || { echo "Failed to install picotool binary"; exit 1; }
+	@echo "\n VERSION:"
+	$(V1) $(PICOTOOL_DIR)/picotool version
+
+.PHONY: picotool_clean
+picotool_clean:
+	@echo " CLEAN        $(PICOTOOL_DIR)"
+	$(V1) [ ! -d "$(PICOTOOL_DIR)" ] || $(RM) -rf $(PICOTOOL_DIR)
+	@echo " CLEAN        $(PICOTOOL_DL_DIR)"
+	$(V1) [ ! -d "$(PICOTOOL_DL_DIR)" ] || $(RM) -rf $(PICOTOOL_DL_DIR)
diff --git a/src/config b/src/config
index 22dc66d412..ec429513a6 160000
--- a/src/config
+++ b/src/config
@@ -1 +1 @@
-Subproject commit 22dc66d412b21f9cbf78fe481b7a3c158c46ca68
+Subproject commit ec429513a68b3362647ead039719f12f156edcf4
diff --git a/src/main/build/build_config.h b/src/main/build/build_config.h
index 4665627e47..22a59c65f3 100644
--- a/src/main/build/build_config.h
+++ b/src/main/build/build_config.h
@@ -63,6 +63,7 @@ typedef enum {
     MCU_TYPE_APM32F405,
     MCU_TYPE_APM32F407,
     MCU_TYPE_AT32F435M,
+    MCU_TYPE_RP2350A,
     MCU_TYPE_RP2350B,
     MCU_TYPE_COUNT,
     MCU_TYPE_UNKNOWN = 255,
diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
index 6f9ca1cec5..2ef7b5f1f7 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -224,7 +224,8 @@ static const char * const mixerNames[] = {
     "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
     "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
     "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
-    "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234", NULL
+    "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234",
+    "OCTOX8P", NULL
 };
 #endif
 
@@ -5000,9 +5001,9 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
         if (rcSmoothingAutoCalculate()) {
             cliPrint("# Detected Rx frequency: ");
             if (getRxRateValid()) {
-	            cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz));
+                cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz));
             } else {
-            	cliPrintLine("NO SIGNAL");
+                cliPrintLine("NO SIGNAL");
             }
         }
         cliPrintf("# Active setpoint and FF cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index f6171946c9..e2ccc28f85 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -163,6 +163,8 @@ const char * const lookupTableAccHardware[] = {
     "IIM42653",
     "ICM45605",
     "ICM45686",
+    "ICM40609D",
+    "IIM42652",
     "VIRTUAL"
 };
 
@@ -189,6 +191,8 @@ const char * const lookupTableGyroHardware[] = {
     "IIM42653",
     "ICM45605",
     "ICM45686",
+    "ICM40609D",
+    "IIM42652",
     "VIRTUAL"
 };
 
@@ -1844,21 +1848,25 @@ const clivalue_t valueTable[] = {
     { "gyro_2_align_yaw", VAR_INT16  | HARDWARE_VALUE, .config.minmax = { -3600, 3600 }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 1, customAlignment.yaw) },
 #endif
 #ifdef I2C_FULL_RECONFIGURABILITY
+#ifdef USE_I2C_DEVICE_0
+    { "i2c0_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_0, pullUp) },
+    { "i2c0_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_0, clockSpeed) },
+#endif
 #ifdef USE_I2C_DEVICE_1
-    { "i2c1_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 0, pullUp) },
-    { "i2c1_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 0, clockSpeed) },
+    { "i2c1_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_1, pullUp) },
+    { "i2c1_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_1, clockSpeed) },
 #endif
 #ifdef USE_I2C_DEVICE_2
-    { "i2c2_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 1, pullUp) },
-    { "i2c2_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 1, clockSpeed) },
+    { "i2c2_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_2, pullUp) },
+    { "i2c2_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_2, clockSpeed) },
 #endif
 #ifdef USE_I2C_DEVICE_3
-    { "i2c3_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 2, pullUp) },
-    { "i2c3_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 2, clockSpeed) },
+    { "i2c3_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_3, pullUp) },
+    { "i2c3_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_3, clockSpeed) },
 #endif
 #ifdef USE_I2C_DEVICE_4
-    { "i2c4_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 3, pullUp) },
-    { "i2c4_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 3, clockSpeed) },
+    { "i2c4_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_4, pullUp) },
+    { "i2c4_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, I2CDEV_4, clockSpeed) },
 #endif
 #endif
 #ifdef USE_MCO
diff --git a/src/main/common/strtol.c b/src/main/common/strtol.c
index f94f3fc38d..0739cec593 100644
--- a/src/main/common/strtol.c
+++ b/src/main/common/strtol.c
@@ -30,6 +30,7 @@
 
 #define _STRTO_ENDPTR 1
 
+#if PLATFORM_NO_LIBC
 static unsigned long _strto_l(const char * str, char ** endptr, int base, int sflag)
 {
     unsigned long number, cutoff;
@@ -127,6 +128,7 @@ unsigned long strtoul(const char * str, char ** endptr, int base)
 {
     return _strto_l(str, endptr, base, 0);
 }
+#endif
 
 int atoi(const char *str)
 {
diff --git a/src/main/common/time.h b/src/main/common/time.h
index 33121739ab..9bf3b9c190 100644
--- a/src/main/common/time.h
+++ b/src/main/common/time.h
@@ -46,6 +46,7 @@ typedef uint32_t timeUs_t;
 #define SECONDS_PER_MINUTE          60.0f
 
 static inline timeDelta_t cmpTimeUs(timeUs_t a, timeUs_t b) { return (timeDelta_t)(a - b); }
+static inline timeDelta_t cmpTimeMs(timeMs_t a, timeMs_t b) { return (timeDelta_t)(a - b); }
 static inline int32_t cmpTimeCycles(uint32_t a, uint32_t b) { return (int32_t)(a - b); }
 
 #define FORMATTED_DATE_TIME_BUFSIZE 30
diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index d8be175115..9a50c6b69b 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -64,6 +64,8 @@ typedef enum {
     GYRO_IIM42653,
     GYRO_ICM45605,
     GYRO_ICM45686,
+    GYRO_ICM40609D,
+    GYRO_IIM42652,
     GYRO_VIRTUAL
 } gyroHardware_e;
 
diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 930028f0a3..f2a43ca6b6 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -58,6 +58,7 @@
 #include "drivers/accgyro/accgyro_spi_l3gd20.h"
 #include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
 #include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_spi_icm40609.h"
 
 #include "pg/pg.h"
 #include "pg/gyrodev.h"
@@ -377,6 +378,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 #endif
 #ifdef USE_GYRO_L3GD20
     l3gd20Detect,
+#endif
+#ifdef USE_ACCGYRO_ICM40609D
+    icm40609SpiDetect,
 #endif
     NULL // Avoid an empty array
 };
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index b72356ddef..b3e4fe7ef2 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -47,8 +47,10 @@
 #define ICM42688P_WHO_AM_I_CONST            (0x47)
 #define ICM45686_WHO_AM_I_CONST             (0xE9)
 #define ICM45605_WHO_AM_I_CONST             (0xE5)
+#define IIM42652_WHO_AM_I_CONST             (0x6F)
 #define IIM42653_WHO_AM_I_CONST             (0x56)
 #define LSM6DSV16X_WHO_AM_I_CONST           (0x70)
+#define ICM40609_WHO_AM_I_CONST             (0x3B)
 
 // RA = Register Address
 
@@ -206,6 +208,7 @@ typedef enum {
     ICM_20689_SPI,
     ICM_42605_SPI,
     ICM_42688P_SPI,
+    IIM_42652_SPI,
     IIM_42653_SPI,
     BMI_160_SPI,
     BMI_270_SPI,
@@ -214,6 +217,7 @@ typedef enum {
     LSM6DSV16X_SPI,
     ICM_45605_SPI,
     ICM_45686_SPI,
+    ICM_40609_SPI
 } mpuSensor_e;
 
 typedef enum {
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.c b/src/main/drivers/accgyro/accgyro_spi_bmi160.c
index 31260a0f96..fbf4aacb81 100644
--- a/src/main/drivers/accgyro/accgyro_spi_bmi160.c
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi160.c
@@ -267,6 +267,7 @@ extiCallbackRec_t bmi160IntCallbackRec;
 
 // Called in ISR context
 // Gyro read has just completed
+#ifdef USE_DMA
 static busStatus_e bmi160Intcallback(uint32_t arg)
 {
     gyroDev_t *gyro = (gyroDev_t *)arg;
@@ -280,6 +281,7 @@ static busStatus_e bmi160Intcallback(uint32_t arg)
 
     return BUS_READY;
 }
+#endif
 
 static void bmi160ExtiHandler(extiCallbackRec_t *cb)
 {
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
index f13f39c75f..a64cfa64b4 100644
--- a/src/main/drivers/accgyro/accgyro_spi_bmi270.c
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
@@ -278,6 +278,7 @@ extiCallbackRec_t bmi270IntCallbackRec;
  */
 // Called in ISR context
 // Gyro read has just completed
+#ifdef USE_DMA
 static busStatus_e bmi270Intcallback(uint32_t arg)
 {
     gyroDev_t *gyro = (gyroDev_t *)arg;
@@ -291,6 +292,7 @@ static busStatus_e bmi270Intcallback(uint32_t arg)
 
     return BUS_READY;
 }
+#endif
 
 static void bmi270ExtiHandler(extiCallbackRec_t *cb)
 {
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm40609.c b/src/main/drivers/accgyro/accgyro_spi_icm40609.c
new file mode 100644
index 0000000000..ed45cdb668
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_icm40609.c
@@ -0,0 +1,764 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <math.h>
+
+#include "platform.h"
+
+#if defined(USE_ACCGYRO_ICM40609D)
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_spi_icm40609.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/pwm_output.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+#include "fc/runtime_config.h"
+ 
+#include "sensors/gyro.h"
+#include "pg/gyrodev.h"
+
+// Datasheet: https://invensense.tdk.com/wp-content/uploads/2022/07/DS-000330-ICM-40609-D-v1.2.pdf
+
+#define ICM40609_WHO_AM_I_REG               0x75
+
+#define ICM40609_REG_BANK_SEL               0x76
+
+#define ICM40609_USER_BANK_0                0x00
+#define ICM40609_USER_BANK_1                0x01
+#define ICM40609_USER_BANK_2                0x02
+#define ICM40609_USER_BANK_3                0x03
+#define ICM40609_USER_BANK_4                0x04
+
+// Registers in BANK 0
+#define ICM40609_REG_INT_CONFIG             0x14
+#define ICM40609_REG_INTF_CONFIG0           0x4C
+#define ICM40609_REG_PWR_MGMT0              0x4E
+#define ICM40609_REG_GYRO_CONFIG0           0x4F
+#define ICM40609_REG_ACCEL_CONFIG0          0x50
+#define ICM40609_REG_GYRO_CONFIG1           0x51 // Bandwidth of the temperature signal DLPF
+#define ICM40609_REG_GYRO_ACCEL_CONFIG0     0x52 // Bandwidth for Gyro & Accel LPF
+#define ICM40609_REG_GYRO_ACCEL_CONFIG1     0x53 // Bandwidth for Gyro & Accel LPF
+#define ICM40609_REG_INT_CONFIG0            0x63
+#define ICM40609_REG_INT_CONFIG1            0x64
+#define ICM40609_REG_INT_SOURCE0            0x65
+
+// Registers in BANK 1
+#define ICM40609_REG_GYRO_CONFIG_STATIC2    0x0B
+#define ICM40609_REG_GYRO_CONFIG_STATIC3    0x0C
+#define ICM40609_REG_GYRO_CONFIG_STATIC4    0x0D
+#define ICM40609_REG_GYRO_CONFIG_STATIC5    0x0E
+#define ICM40609_REG_GYRO_CONFIG_STATIC6    0x0F
+#define ICM40609_REG_GYRO_CONFIG_STATIC7    0x10
+#define ICM40609_REG_GYRO_CONFIG_STATIC8    0x11
+#define ICM40609_REG_GYRO_CONFIG_STATIC9    0x12
+#define ICM40609_REG_GYRO_CONFIG_STATIC10   0x13 // gyro notch filter
+
+// Registers in BANK 2
+#define ICM40609_REG_ACCEL_CONFIG_STATIC2   0x03
+#define ICM40609_REG_ACCEL_CONFIG_STATIC3   0x04
+#define ICM40609_REG_ACCEL_CONFIG_STATIC4   0x05
+
+// PWR_MGMT0_REG - 0x4E
+#define ICM40609_TEMP_SENSOR_ENABLED        (0 << 5)
+#define ICM40609_TEMP_SENSOR_DISABLED       (1 << 5)
+#define ICM40609_IDLE                       (0 << 4)
+#define ICM40609_RC_ON                      (1 << 4)
+
+// // PWR_MGMT0_REG - 0x4E bits [3:2]
+#define ICM40609_GYRO_MODE_OFF              (0 << 2)
+#define ICM40609_GYRO_MODE_STANDBY          (1 << 2)
+#define ICM40609_GYRO_MODE_LN               (3 << 2)
+
+// // PWR_MGMT0_REG - 0x4E bits [1:0]
+#define ICM40609_ACCEL_MODE_OFF             (0 << 0) // Of course, this is joke, but it's so easy to check bits orders in datasheet
+#define ICM40609_ACCEL_MODE_PWR_OFF         (1 << 0)
+#define ICM40609_ACCEL_MODE_LP              (2 << 0)
+#define ICM40609_ACCEL_MODE_LN              (3 << 0)
+
+// GYRO_CONFIG0_REG - 0x4F bits [7:5]
+#define ICM40609_GYRO_FS_SEL_2000DPS        (0 << 5)  // default)
+#define ICM40609_GYRO_FS_SEL_1000DPS        (1 << 5)
+#define ICM40609_GYRO_FS_SEL_500DPS         (2 << 5)
+#define ICM40609_GYRO_FS_SEL_250DPS         (3 << 5)
+#define ICM40609_GYRO_FS_SEL_125DPS         (4 << 5)
+#define ICM40609_GYRO_FS_SEL_62_5DPS        (5 << 5)
+#define ICM40609_GYRO_FS_SEL_31_25DPS       (6 << 5)
+#define ICM40609_GYRO_FS_SEL_15_625DPS      (7 << 5)
+
+// GYRO_CONFIG0_REG - 0x4F bits [3:0]
+#define ICM40609_GYRO_ODR_32KHZ             0x01
+#define ICM40609_GYRO_ODR_16KHZ             0x02
+#define ICM40609_GYRO_ODR_8KHZ              0x03
+#define ICM40609_GYRO_ODR_4KHZ              0x04
+#define ICM40609_GYRO_ODR_2KHZ              0x05
+#define ICM40609_GYRO_ODR_1KHZ              0x06  // default
+#define ICM40609_GYRO_ODR_200HZ             0x07
+#define ICM40609_GYRO_ODR_100HZ             0x08
+#define ICM40609_GYRO_ODR_50HZ              0x09
+#define ICM40609_GYRO_ODR_25HZ              0x0A
+#define ICM40609_GYRO_ODR_12_5HZ            0x0B
+#define ICM40609_GYRO_ODR_RESERVED_C        0x0C
+#define ICM40609_GYRO_ODR_RESERVED_D        0x0D
+#define ICM40609_GYRO_ODR_RESERVED_E        0x0E
+#define ICM40609_GYRO_ODR_500HZ             0x0F
+
+// ACCEL_CONFIG0_REG - 0x50 bits [7:5]
+#define ICM40609_ACCEL_FS_SEL_16G           (0 << 5)
+#define ICM40609_ACCEL_FS_SEL_8G            (1 << 5)
+#define ICM40609_ACCEL_FS_SEL_4G            (2 << 5)
+#define ICM40609_ACCEL_FS_SEL_2G            (3 << 5)
+#define ICM40609_ACCEL_FS_SEL_1G            (4 << 5)
+#define ICM40609_ACCEL_FS_SEL_0_5G          (5 << 5)
+#define ICM40609_ACCEL_FS_SEL_0_25G         (6 << 5)
+#define ICM40609_ACCEL_FS_SEL_0_125G        (7 << 5)
+
+// ACCEL_CONFIG0_REG - 0x50 bits [3:0]
+#define ICM40609_ACCEL_ODR_32KHZ            0x01
+#define ICM40609_ACCEL_ODR_16KHZ            0x02
+#define ICM40609_ACCEL_ODR_8KHZ             0x03
+#define ICM40609_ACCEL_ODR_4KHZ             0x04
+#define ICM40609_ACCEL_ODR_2KHZ             0x05
+#define ICM40609_ACCEL_ODR_1KHZ             0x06  // 1kHz (LN mode) (default)
+#define ICM40609_ACCEL_ODR_200HZ            0x07
+#define ICM40609_ACCEL_ODR_100HZ            0x08
+#define ICM40609_ACCEL_ODR_50HZ             0x09
+#define ICM40609_ACCEL_ODR_25HZ             0x0A
+#define ICM40609_ACCEL_ODR_12_5HZ           0x0B
+#define ICM40609_ACCEL_ODR_500HZ            0x0F
+
+// INT_CONFIG_REG - 0x14
+#define ICM40609_INT1_MODE_PULSED           (0 << 2)
+#define ICM40609_INT1_MODE_LATCHED          (1 << 2)
+
+#define ICM40609_INT1_DRIVE_OPEN_DRAIN      (0 << 1)
+#define ICM40609_INT1_DRIVE_PUSH_PULL       (1 << 1)
+
+#define ICM40609_INT1_POLARITY_ACTIVE_LOW   (0 << 0)
+#define ICM40609_INT1_POLARITY_ACTIVE_HIGH  (1 << 0)
+
+// NT_SOURCE0_REG - 0x65
+#define ICM40609_UI_FSYNC_INT1_EN           (1 << 6)
+#define ICM40609_PLL_RDY_INT1_EN            (1 << 5)
+#define ICM40609_RESET_DONE_INT1_EN         (1 << 4)
+#define ICM40609_UI_DRDY_INT1_EN            (1 << 3)
+#define ICM40609_FIFO_THS_INT1_EN           (1 << 2)
+#define ICM40609_FIFO_FULL_INT1_EN          (1 << 1)
+#define ICM40609_UI_AGC_RDY_INT1_EN         (1 << 0)
+
+// INT_CONFIG0 - 0x63
+#define ICM40609_UI_DRDY_INT_CLEAR_STATUS   (0 << 4)
+
+// INT_CONFIG1 - 0x64
+#define ICM40609_INT_TPULSE_100US           (0 << 6) // ODR < 4kHz, optional
+#define ICM40609_INT_TPULSE_8US             (1 << 6) // ODR ≥ 4kHz
+#define ICM40609_INT_TDEASSERT_ENABLED      (0 << 5)
+#define ICM40609_INT_TDEASSERT_DISABLED     (1 << 5)
+#define ICM40609_INT_ASYNC_RESET_ENABLED    (1 << 4)
+#define ICM40609_INT_ASYNC_RESET_DISABLED   (0 << 4)
+
+// REG_GYRO_CONFIG1 - 0x51 bits [3:2]
+#define ICM40609_GYRO_UI_FILT_ORDER_1ST     (0 << 2)
+#define ICM40609_GYRO_UI_FILT_ORDER_2ND     (1 << 2)
+#define ICM40609_GYRO_UI_FILT_ORDER_3RD     (2 << 2)
+
+// REG_GYRO_CONFIG1 - 0x51 bits [1:0]
+#define ICM40609_GYRO_DEC2_M2_ORDER_3RD     (2 << 0)
+
+// REG_GYRO_ACCEL_CONFIG0 - 0x52 bits [7:4]
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV2   (0 << 4)
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV4   (1 << 4) // default
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV5   (2 << 4)
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV8   (3 << 4)
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV10  (4 << 4)
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV16  (5 << 4)
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV20  (6 << 4)
+#define ICM40609_ACCEL_UI_FILT_BW_ODR_DIV40  (7 << 4)
+#define ICM40609_ACCEL_UI_FILT_BW_LP_TRIVIAL_400HZ_ODR   (14 << 4) // Bit[7:4] - Low Latency 
+#define ICM40609_ACCEL_UI_FILT_BW_LP_TRIVIAL_200HZ_8XODR (15 << 4) // Bit[7:4] - Low Latency 
+
+// REG_GYRO_ACCEL_CONFIG0 - 0x52 bits [3:0]
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV2    (0 << 0)
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV4    (1 << 0) // default
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV5    (2 << 0)
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV8    (3 << 0)
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV10   (4 << 0)
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV16   (5 << 0)
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV20   (6 << 0)
+#define ICM40609_GYRO_UI_FILT_BW_ODR_DIV40   (7 << 0)
+#define ICM40609_GYRO_UI_FILT_BW_LP_TRIVIAL_400HZ_ODR   (14 << 0) // Bit[3:0] - Low Latency
+#define ICM40609_GYRO_UI_FILT_BW_LP_TRIVIAL_200HZ_8XODR (15 << 0) // Bit[3:0] - Low Latency
+
+// REG_ACCEL_CONFIG_STATIC2 - 0x03 bit [0]
+#define ICM40609_ACCEL_AAF_DIS              (1 << 0)
+
+// REG_GYRO_CONFIG_STATIC2 - 0x0B bit [1]
+#define ICM40609_GYRO_AAF_DIS               (1 << 1)
+
+//REG_GYRO_CONFIG_STATIC2 - 0x0B bit [0]
+#define ICM40609_GYRO_NF_DIS_BIT            (1 << 0)
+
+// GYRO_HPF_BW_IND - 0x13 bit [3:1] — High-pass filter 3dB cutoff frequency selection
+#define ICM40609_GYRO_HPF_BW_IND_MASK       (0x07 << 1) // bits [3:1]
+
+// GYRO_HPF_ORD_IND [0] — High-pass filter order (1st or 2nd)
+#define ICM40609_GYRO_HPF_ORD_IND_MASK      (1 << 0)
+
+// GYRO_CONFIG1 (0x51)
+#define ICM40609_GYRO_UI_FILT_ORD_MASK      (0x03 << 2) // bits [3:2]
+#define ICM40609_GYRO_DEC2_M2_ORD_MASK      (0x03 << 0) // bits [1:0]
+
+// ACCEL_CONFIG1 (0x53)
+#define ICM40609_ACCEL_UI_FILT_ORD_MASK     (0x03 << 3) // bits [4:3]
+#define ICM40609_ACCEL_DEC2_M2_ORD_MASK     (0x03 << 1) // bits [2:1]
+
+#define ICM40609_ACCEL_DATA_X1_UI           0x1F
+#define ICM40609_GYRO_DATA_X1_UI            0x25
+
+#define ICM40609_RESET_REG                  0x11
+#define ICM40609_SOFT_RESET_VAL             0x01
+
+#ifndef ICM40609_LOCK
+// Default: 24 MHz max SPI frequency
+#define ICM40609_MAX_SPI_CLK_HZ 24000000
+#else
+// Use the supplied value
+#define ICM40609_MAX_SPI_CLK_HZ  ICM40609_LOCK
+#endif
+
+#define ICM40609_AAF_PROFILE_COUNT          63
+
+// Table 5.2 Bandwidth (Hz)
+typedef struct {
+    uint16_t hz;
+    uint8_t delt;
+    uint16_t deltsqr;
+    uint8_t bitshift;
+} ICM40609_AafProfile;
+
+
+static const ICM40609_AafProfile aafProfiles[ICM40609_AAF_PROFILE_COUNT] = {
+    { 42, 1, 1, 15 },
+    { 84, 2, 4, 13 },
+    { 126, 3, 9, 12 },
+    { 170, 4, 16, 11 },
+    { 213, 5, 25, 10 },
+    { 258, 6, 36, 10 },
+    { 303, 7, 49, 9 },
+    { 348, 8, 64, 9 },
+    { 394, 9, 81, 9 },
+    { 441, 10, 100, 8 },
+    { 488, 11, 122, 8 },
+    { 536, 12, 144, 8 },
+    { 585, 13, 170, 8 },
+    { 634, 14, 196, 8 },
+    { 684, 15, 224, 7 },
+    { 734, 16, 256, 7 },
+    { 785, 17, 288, 7 },
+    { 837, 18, 324, 7 },
+    { 890, 19, 360, 6 },
+    { 943, 20, 400, 6 },
+    { 997, 21, 440, 6 },
+    { 1051, 22, 488, 6 },
+    { 1107, 23, 528, 6 },
+    { 1163, 24, 576, 6 },
+    { 1220, 25, 624, 6 },
+    { 1277, 26, 680, 6 },
+    { 1336, 27, 736, 5 },
+    { 1395, 28, 784, 5 },
+    { 1454, 29, 848, 5 },
+    { 1515, 30, 896, 5 },
+    { 1577, 31, 960, 5 },
+    { 1639, 32, 1024, 5 },
+    { 1702, 33, 1088, 5 },
+    { 1766, 34, 1152, 5 },
+    { 1830, 35, 1232, 5 },
+    { 1896, 36, 1296, 5 },
+    { 1962, 37, 1376, 4 },
+    { 2029, 38, 1440, 4 },
+    { 2097, 39, 1536, 4 },
+    { 2166, 40, 1600, 4 },
+    { 2235, 41, 1696, 4 },
+    { 2306, 42, 1760, 4 },
+    { 2377, 43, 1856, 4 },
+    { 2449, 44, 1952, 4 },
+    { 2522, 45, 2016, 4 },
+    { 2596, 46, 2112, 4 },
+    { 2671, 47, 2208, 4 },
+    { 2746, 48, 2304, 4 },
+    { 2823, 49, 2400, 4 },
+    { 2900, 50, 2496, 4 },
+    { 2978, 51, 2592, 4 },
+    { 3057, 52, 2720, 4 },
+    { 3137, 53, 2816, 4 },
+    { 3217, 54, 2944, 3 },
+    { 3299, 55, 3008, 3 },
+    { 3381, 56, 3136, 3 },
+    { 3464, 57, 3264, 3 },
+    { 3548, 58, 3392, 3 },
+    { 3633, 59, 3456, 3 },
+    { 3718, 60, 3584, 3 },
+    { 3805, 61, 3712, 3 },
+    { 3892, 62, 3840, 3 },
+    { 3979, 63, 3968, 3 },
+};
+
+/*
+ * ICM-40609D Group Delay @DC (ODR = 8000 Hz)
+ *
+ * +-------------------+--------------------+----------+
+ * | Filter Order      | Delay (UI_FILT_BW) | NBW (Hz) |
+ * +-------------------+--------------------+----------+
+ * | 1st order filter  | 0.2 ms             |  2204.6  |
+ * | 2nd order filter  | 0.2 ms             |  2204.6  |
+ * | 3rd order filter  | 0.2 ms             |  2096.3  |
+ * +-------------------+--------------------+----------+
+ *
+ * Note:
+ *  Delay is independent of UI_FILT_BW when ODR = 8000Hz.
+ *  5.4 UI FILTER BLOCK TDK ICM-40609D Datasheet Rev 1.2 (2023)
+ * 
+ *  Filter order (standard DSP behavior):
+ *  1st order -6 dB/octave
+ *  2nd order -12 dB/octave
+ *  3rd order -18 dB/octave
+ *  These roll-off rates are typical for LPF/HPF filters in digital signal processing (DSP).
+ */
+typedef enum {
+    ICM40609_UI_FILT_ORDER_1ST = 0,
+    ICM40609_UI_FILT_ORDER_2ND = 1,
+    ICM40609_UI_FILT_ORDER_3RD = 2
+} icm40609UiFiltOrder_e;
+
+typedef enum {
+    ICM40609_HPF_ORDER_1ST = 0,
+    ICM40609_HPF_ORDER_2ND = 1
+} icm40609HpfOrder_e;
+
+// Bandwidth selection for High-Pass Filter
+// ICM40609_REG_GYRO_CONFIG_STATIC10 - 0x13 bits [3:1]
+// NOTE: clarify with new datasheet, section 5.6 not found in V1.2
+typedef enum {
+    ICM40609_HPF_BW_0 = 0,
+    ICM40609_HPF_BW_1 = 1,
+    ICM40609_HPF_BW_2 = 2,
+    ICM40609_HPF_BW_3 = 3,
+    ICM40609_HPF_BW_4 = 4,
+    ICM40609_HPF_BW_5 = 5,
+    ICM40609_HPF_BW_6 = 6,
+    ICM40609_HPF_BW_7 = 7,
+} icm40609HpfBw_e;
+
+// Bandwidth selection for Notch Filter GYRO_NF_BW_SEL
+// ICM40609_REG_GYRO_CONFIG_STATIC10 - 0x13 bits [6:4]
+typedef enum {
+    ICM40609_GYRO_NF_BW_1449HZ = 0,
+    ICM40609_GYRO_NF_BW_680HZ  = 1,
+    ICM40609_GYRO_NF_BW_329HZ  = 2,
+    ICM40609_GYRO_NF_BW_162HZ  = 3,
+    ICM40609_GYRO_NF_BW_80HZ   = 4,
+    ICM40609_GYRO_NF_BW_40HZ   = 5,
+    ICM40609_GYRO_NF_BW_20HZ   = 6,
+    ICM40609_GYRO_NF_BW_10HZ   = 7,
+} icm40609GyroNfBw_e;
+
+typedef enum {
+    ICM40609_TEMP_FILT_BW_4000HZ = 0, // 4000Hz, 0.125ms latency (default)
+    ICM40609_TEMP_FILT_BW_170HZ  = 1, // 170Hz, 1ms latency
+    ICM40609_TEMP_FILT_BW_82HZ   = 2, // 82Hz, 2ms latency
+    ICM40609_TEMP_FILT_BW_40HZ   = 3, // 40Hz, 4ms latency
+    ICM40609_TEMP_FILT_BW_20HZ   = 4, // 20Hz, 8ms latency
+    ICM40609_TEMP_FILT_BW_10HZ   = 5, // 10Hz, 16ms latency
+    ICM40609_TEMP_FILT_BW_5HZ    = 6, // 5Hz, 32ms latency
+} icm40609TempFiltBw_e;
+
+static void icm40609SelectUserBank(const extDevice_t *dev, uint8_t bank)
+{
+    if (bank > 4) {
+        return; // out of range
+    }
+    spiWriteReg(dev, ICM40609_REG_BANK_SEL, bank & 0x07); // bit [2:0]
+}
+
+static void setGyroAccPowerMode(const extDevice_t *dev, bool enable)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+
+    spiWriteReg(dev, ICM40609_REG_PWR_MGMT0,
+        ICM40609_RC_ON |
+        ICM40609_TEMP_SENSOR_ENABLED |
+        (enable ? ICM40609_GYRO_MODE_LN | ICM40609_ACCEL_MODE_LN
+                : ICM40609_GYRO_MODE_OFF | ICM40609_ACCEL_MODE_OFF));
+
+    if (enable) {
+        delayMicroseconds(200);
+    } else {
+        delay(50);
+    }
+}
+
+static void icm40609GetAafParams(uint16_t targetHz, ICM40609_AafProfile* res)
+{
+    uint16_t i = 0;
+    while (i < ICM40609_AAF_PROFILE_COUNT && targetHz >  aafProfiles[i].hz) {
+         i++;
+    }
+    if (i < ICM40609_AAF_PROFILE_COUNT) {  
+        *res = aafProfiles[i];
+    } else {
+        // not found - Requested frequency is higher than max available
+        *res = aafProfiles[ICM40609_AAF_PROFILE_COUNT - 1]; 
+    }
+}
+
+static void icm40609SetAccelAafByHz(const extDevice_t *dev, bool aafEnable, uint16_t targetHz)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_2);
+
+    if (aafEnable && targetHz > 0) {
+        ICM40609_AafProfile aafProfile;
+
+        icm40609GetAafParams(targetHz, &aafProfile);
+    
+        uint8_t reg03 = spiReadRegMsk(dev, ICM40609_REG_ACCEL_CONFIG_STATIC2);
+
+        reg03 &= ~ICM40609_ACCEL_AAF_DIS; // Clear ACCEL_AAF_DIS to enable AAF
+        reg03 = (reg03 & 0x81) | (aafProfile.delt << 1); // Keep reserved bit 7, set ACCEL_AAF_DELT
+        spiWriteReg(dev, ICM40609_REG_ACCEL_CONFIG_STATIC2, reg03);
+
+        uint8_t reg04 = aafProfile.deltsqr & 0xFF;
+        uint8_t reg05 = ((aafProfile.bitshift & 0x0F) << 4) | ((aafProfile.deltsqr >> 8) & 0x0F);
+
+        spiWriteReg(dev, ICM40609_REG_ACCEL_CONFIG_STATIC3, reg04);
+        spiWriteReg(dev, ICM40609_REG_ACCEL_CONFIG_STATIC4, reg05);
+
+    } else {
+        uint8_t reg03 = spiReadRegMsk(dev, ICM40609_REG_ACCEL_CONFIG_STATIC2);
+        reg03 |= ICM40609_ACCEL_AAF_DIS; // Set ACCEL_AAF_DIS to disable AAF
+        spiWriteReg(dev, ICM40609_REG_ACCEL_CONFIG_STATIC2, reg03);
+    }
+
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+}
+
+static void icm40609SetGyroAafByHz(const extDevice_t *dev, bool aafEnable, uint16_t targetHz)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_1);
+
+    if (aafEnable && targetHz > 0) {
+        ICM40609_AafProfile aafProfile;
+
+        icm40609GetAafParams(targetHz, &aafProfile);
+
+        uint8_t reg0C = aafProfile.delt & 0x3F;
+        uint8_t reg0D = aafProfile.deltsqr & 0xFF;
+        uint8_t reg0E = ((aafProfile.bitshift & 0x0F) << 4) | ((aafProfile.deltsqr >> 8) & 0x0F);
+
+        uint8_t reg0B = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG_STATIC2);
+        reg0B &= ~ICM40609_GYRO_AAF_DIS; // Clear AAF_DIS (bit1) to enable AAF
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC2, reg0B);
+
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC3, reg0C);
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC4, reg0D);
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC5, reg0E);
+
+    } else {
+        uint8_t reg0B = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG_STATIC2);
+        reg0B |= ICM40609_GYRO_AAF_DIS; // Set AAF_DIS (bit1) to disable AAF
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC2, reg0B);
+    }
+
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+}
+
+static void icm40609SetGyroHPF(const extDevice_t *dev, bool hpfEnable, icm40609HpfBw_e hpfBwInd, icm40609HpfOrder_e hpfOrder)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_1);
+
+    uint8_t reg13 = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG_STATIC10);
+
+    reg13 &= ~(ICM40609_GYRO_HPF_BW_IND_MASK | ICM40609_GYRO_HPF_ORD_IND_MASK); // clear HPF bits
+
+    if (hpfEnable) {
+        reg13 |= (hpfBwInd << 1) | (hpfOrder << 0);
+    }
+
+    spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC10, reg13);
+
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+}
+
+static void icm40609SetGyroNotch(const extDevice_t *dev, bool notchEnable, icm40609GyroNfBw_e bwSel, float fdesiredKhz)
+{
+    if (fdesiredKhz < 1.0f || fdesiredKhz > 3.0f) {
+        return; // (1kHz to 3kHz) Operating the notch filter outside this range is not supported. 
+    }
+
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_1);
+
+    // Enable/disable Notch filter
+    uint8_t reg2 = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG_STATIC2);
+    if (notchEnable) {
+        reg2 &= ~ICM40609_GYRO_NF_DIS_BIT;
+    } else {
+        reg2 |= ICM40609_GYRO_NF_DIS_BIT; // Bypass
+    }
+    spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC2, reg2);
+
+    if (notchEnable) {
+        // Set Bandwidth in STATIC10 (0x13)
+        uint8_t reg13 = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG_STATIC10);
+        reg13 &= ~(0x07 << 4);
+        reg13 |= (bwSel & 0x07) << 4; // GYRO_NF_BW_SEL [6:4]
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC10, reg13);
+
+        // Section 5.1.1 (v1.2) Frequency of Notch Filter (each axis)
+        // Calculate COSWZ and SEL based on desired frequency
+        float coswz = cosf(2.0f * M_PIf * fdesiredKhz / 32.0f);
+        uint8_t nf_coswz_lsb = 0;
+        uint8_t nf_coswz_msb = 0;
+        uint8_t nf_coswz_sel = 0;
+
+        if (fabsf(coswz) <= 0.875f) {
+            int16_t nf_coswz = (int16_t)roundf(coswz * 256.0f);
+            nf_coswz_lsb = nf_coswz & 0xFF;
+            nf_coswz_msb = (nf_coswz >> 8) & 0x01;
+            nf_coswz_sel = 0;
+        } else {
+            nf_coswz_sel = 1;
+            int16_t nf_coswz;
+            if (coswz > 0.875f) {
+                nf_coswz = (int16_t)roundf(8.0f * (1.0f - coswz) * 256.0f);
+            } else {
+                nf_coswz = (int16_t)roundf(8.0f * (1.0f + coswz) * 256.0f);
+            }
+            nf_coswz_lsb = nf_coswz & 0xFF;
+            nf_coswz_msb = (nf_coswz >> 8) & 0x01;
+        }
+
+        // Write NF_COSWZ[7:0] for X, Y, Z
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC6, nf_coswz_lsb); // X
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC7, nf_coswz_lsb); // Y
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC8, nf_coswz_lsb); // Z
+
+        // Write NF_COSWZ[8] and NF_COSWZ_SEL into STATIC9 (0x12)
+        uint8_t reg9 = 0;
+        reg9 |= (nf_coswz_msb << 0); // X NF_COSWZ[8]
+        reg9 |= (nf_coswz_msb << 1); // Y NF_COSWZ[8]
+        reg9 |= (nf_coswz_msb << 2); // Z NF_COSWZ[8]
+        reg9 |= (nf_coswz_sel << 3); // X COSWZ_SEL
+        reg9 |= (nf_coswz_sel << 4); // Y COSWZ_SEL
+        reg9 |= (nf_coswz_sel << 5); // Z COSWZ_SEL
+        spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG_STATIC9, reg9);
+    }
+
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+}
+
+static void icm40609SetTempFiltBw(const extDevice_t *dev, icm40609TempFiltBw_e bw)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+
+    uint8_t reg51 = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG1);
+    reg51 &= ~(0x07 << 5);
+    reg51 |= (bw << 5);
+    spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG1, reg51);
+}
+
+static void icm40609SetGyroUiFiltOrder(const extDevice_t *dev, icm40609UiFiltOrder_e order)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+
+    uint8_t reg51 = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG1);
+    reg51 &= ~ICM40609_GYRO_UI_FILT_ORD_MASK;
+    reg51 |= (order << 2); // Write GYRO_UI_FILT_ORD to bits [3:2]
+    spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG1, reg51);
+}
+
+static void icm40609SetAccelUiFiltOrder(const extDevice_t *dev, icm40609UiFiltOrder_e order)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+
+    uint8_t reg53 = spiReadRegMsk(dev, ICM40609_REG_GYRO_ACCEL_CONFIG1);
+    reg53 &= ~ICM40609_ACCEL_UI_FILT_ORD_MASK;
+    reg53 |= (order << 3); // Write ACCEL_UI_FILT_ORD to bits [4:3]
+    spiWriteReg(dev, ICM40609_REG_GYRO_ACCEL_CONFIG1, reg53);
+}
+
+static void icm40609SetGyroDec2M2(const extDevice_t *dev, bool enable)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+
+    uint8_t reg51 = spiReadRegMsk(dev, ICM40609_REG_GYRO_CONFIG1);
+    reg51 &= ~ICM40609_GYRO_DEC2_M2_ORD_MASK;
+
+    if (enable) {
+        reg51 |= (2 << 0);
+    }
+
+    spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG1, reg51);
+}
+
+// Set endianness for sensor data (bit 4 of INTF_CONFIG0, reg 0x4C)
+// true  = Big Endian
+// false = Little Endian
+static void icm40609SetEndianess(const extDevice_t *dev, bool bigEndian)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+
+    uint8_t reg4C = spiReadRegMsk(dev, ICM40609_REG_INTF_CONFIG0);
+    reg4C &= ~(1 << 4);
+    reg4C |= bigEndian << 4;
+
+    spiWriteReg(dev, ICM40609_REG_INTF_CONFIG0, reg4C);
+}
+
+void icm40609AccInit(accDev_t *acc)
+{
+    acc->acc_1G = 2048; // 16g scale
+    acc->gyro->accSampleRateHz = 1000;
+    
+}
+
+void icm40609GyroInit(gyroDev_t *gyro)
+{
+    const extDevice_t *dev = &gyro->dev;
+    spiSetClkDivisor(dev, spiCalculateDivider(ICM40609_MAX_SPI_CLK_HZ));
+
+    mpuGyroInit(gyro);
+    gyro->accDataReg = ICM40609_ACCEL_DATA_X1_UI;
+    gyro->gyroDataReg = ICM40609_GYRO_DATA_X1_UI;
+
+    setGyroAccPowerMode(dev, false);
+
+    icm40609SetEndianess(dev, true);
+
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+    spiWriteReg(dev, ICM40609_REG_GYRO_CONFIG0, ICM40609_GYRO_FS_SEL_2000DPS | ICM40609_GYRO_ODR_8KHZ);
+    gyro->scale = GYRO_SCALE_2000DPS;
+    gyro->gyroRateKHz = GYRO_RATE_8_kHz;
+    gyro->gyroSampleRateHz = 8000;
+
+    spiWriteReg(dev, ICM40609_REG_ACCEL_CONFIG0, ICM40609_ACCEL_FS_SEL_16G | ICM40609_ACCEL_ODR_1KHZ );
+
+    icm40609SetTempFiltBw(dev, ICM40609_TEMP_FILT_BW_4000HZ); // 4000Hz, 0.125ms latency (default)
+    icm40609SetGyroUiFiltOrder(dev, ICM40609_UI_FILT_ORDER_3RD);
+    icm40609SetAccelUiFiltOrder(dev, ICM40609_UI_FILT_ORDER_3RD);
+    icm40609SetGyroDec2M2(dev, true);
+
+    // Set filter bandwidth: Low Latency
+    spiWriteReg(&gyro->dev, ICM40609_REG_GYRO_ACCEL_CONFIG0, 
+                    ICM40609_ACCEL_UI_FILT_BW_LP_TRIVIAL_200HZ_8XODR | 
+                    ICM40609_GYRO_UI_FILT_BW_LP_TRIVIAL_200HZ_8XODR);
+
+    uint16_t gyroHWLpf; // Anti-Alias Filter (AAF) in Hz
+    switch (gyroConfig()->gyro_hardware_lpf) {
+    case GYRO_HARDWARE_LPF_NORMAL:
+        gyroHWLpf = 213;
+        break;
+    case GYRO_HARDWARE_LPF_OPTION_1:
+        gyroHWLpf = 488;
+        break;
+    case GYRO_HARDWARE_LPF_OPTION_2:
+        gyroHWLpf = 997;
+        break;
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+    case GYRO_HARDWARE_LPF_EXPERIMENTAL:
+        gyroHWLpf = 1962;
+        break;
+#endif
+        default:
+        gyroHWLpf = 213;
+    }
+
+    icm40609SetGyroAafByHz(dev, true, gyroHWLpf);
+    icm40609SetAccelAafByHz(dev, true, gyroHWLpf);
+
+    icm40609SetGyroNotch(dev, true, ICM40609_GYRO_NF_BW_1449HZ, 1.5f);
+
+    icm40609SetGyroHPF(dev, true, ICM40609_HPF_BW_1, ICM40609_HPF_ORDER_1ST);
+                  
+    // Enable interrupt
+    spiWriteReg(dev, ICM40609_REG_INT_SOURCE0, ICM40609_UI_DRDY_INT1_EN);
+
+    // Set INT1 to pulse mode, push-pull, active high
+    spiWriteReg(dev, ICM40609_REG_INT_CONFIG, 
+        ICM40609_INT1_MODE_PULSED | 
+        ICM40609_INT1_DRIVE_PUSH_PULL | 
+        ICM40609_INT1_POLARITY_ACTIVE_HIGH); 
+
+    spiWriteReg(dev, ICM40609_REG_INT_CONFIG0, ICM40609_UI_DRDY_INT_CLEAR_STATUS); // auto clear after read
+
+    // Set INT1 pulse width to 8us, deassertion enabled, async reset disabled
+    spiWriteReg(dev, ICM40609_REG_INT_CONFIG1,
+        ICM40609_INT_TPULSE_8US |
+        ICM40609_INT_TDEASSERT_DISABLED |
+        ICM40609_INT_ASYNC_RESET_DISABLED);
+
+    setGyroAccPowerMode(dev, true);
+
+}
+
+uint8_t icm40609SpiDetect(const extDevice_t *dev)
+{
+    icm40609SelectUserBank(dev, ICM40609_USER_BANK_0);
+
+    spiWriteReg(dev, ICM40609_RESET_REG, ICM40609_SOFT_RESET_VAL);
+    delay(1);
+
+    uint8_t whoAmI = spiReadRegMsk(dev, ICM40609_WHO_AM_I_REG);
+    if (whoAmI == ICM40609_WHO_AM_I_CONST) {
+        return ICM_40609_SPI;
+    }
+    return MPU_NONE;
+}
+
+bool icm40609SpiAccDetect(accDev_t *acc)
+{
+    if (acc->mpuDetectionResult.sensor == ICM_40609_SPI) {
+        acc->initFn = icm40609AccInit;
+        acc->readFn = mpuAccReadSPI;
+        return true;
+    }
+    return false;
+}
+
+bool icm40609SpiGyroDetect(gyroDev_t *gyro)
+{
+    if (gyro->mpuDetectionResult.sensor == ICM_40609_SPI) {
+        gyro->initFn = icm40609GyroInit;
+        gyro->readFn = mpuGyroReadSPI;
+        return true;
+    }
+    return false;
+}
+
+#endif // USE_ACCGYRO_ICM40609D
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm40609.h b/src/main/drivers/accgyro/accgyro_spi_icm40609.h
new file mode 100644
index 0000000000..0211311079
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_icm40609.h
@@ -0,0 +1,32 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+ 
+void icm40609AccInit(accDev_t *acc);
+void icm40609GyroInit(gyroDev_t *gyro);
+
+uint8_t icm40609SpiDetect(const extDevice_t *dev);
+
+bool icm40609SpiAccDetect(accDev_t *acc);
+bool icm40609SpiGyroDetect(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
index 2a3a327e4d..afdc21e2fa 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
@@ -28,7 +28,7 @@
 
 #include "platform.h"
 
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
 
 #include "common/axis.h"
 #include "common/utils.h"
@@ -60,6 +60,10 @@
 
 #define ICM426XX_CLKIN_FREQ                         32000
 
+// Soft Reset
+#define ICM426XX_RA_DEVICE_CONFIG                   0x17
+#define DEVICE_CONFIG_SOFT_RESET_BIT                (1 << 0) // Soft reset bit
+
 #define ICM426XX_RA_REG_BANK_SEL                    0x76
 #define ICM426XX_BANK_SELECT0                       0x00
 #define ICM426XX_BANK_SELECT1                       0x01
@@ -249,8 +253,19 @@ static void icm426xxEnableExternalClock(const extDevice_t *dev)
 }
 #endif
 
+static void icm426xxSoftReset(const extDevice_t *dev)
+{
+    setUserBank(dev, ICM426XX_BANK_SELECT0);
+
+    spiWriteReg(dev, ICM426XX_RA_DEVICE_CONFIG, DEVICE_CONFIG_SOFT_RESET_BIT);
+
+    delay(1);
+}
+
 uint8_t icm426xxSpiDetect(const extDevice_t *dev)
 {
+    delay(1);                          // power-on time
+    icm426xxSoftReset(dev);
     spiWriteReg(dev, ICM426XX_RA_PWR_MGMT0, 0x00);
 
 #if defined(USE_GYRO_CLKIN)
@@ -260,7 +275,7 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
     uint8_t icmDetected = MPU_NONE;
     uint8_t attemptsRemaining = 20;
     do {
-        delay(150);
+        delay(1);
         const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
         switch (whoAmI) {
         case ICM42605_WHO_AM_I_CONST:
@@ -269,6 +284,9 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
         case ICM42688P_WHO_AM_I_CONST:
             icmDetected = ICM_42688P_SPI;
             break;
+        case IIM42652_WHO_AM_I_CONST:
+            icmDetected = IIM_42652_SPI;
+            break;
         case IIM42653_WHO_AM_I_CONST:
             icmDetected = IIM_42653_SPI;
             break;
@@ -291,6 +309,7 @@ void icm426xxAccInit(accDev_t *acc)
 {
     switch (acc->mpuDetectionResult.sensor) {
     case IIM_42653_SPI:
+    case IIM_42652_SPI:
         acc->acc_1G = 512 * 2; // Accel scale 32g (1024 LSB/g)
         break;
     default:
@@ -304,6 +323,7 @@ bool icm426xxSpiAccDetect(accDev_t *acc)
     switch (acc->mpuDetectionResult.sensor) {
     case ICM_42605_SPI:
     case ICM_42688P_SPI:
+    case IIM_42652_SPI:
     case IIM_42653_SPI:
         break;
     default:
@@ -412,6 +432,7 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
     case ICM_42688P_SPI:
         gyro->scale = GYRO_SCALE_2000DPS;
         break;
+    case IIM_42652_SPI:
     case IIM_42653_SPI:
         gyro->scale = GYRO_SCALE_4000DPS;
         break;
@@ -429,6 +450,8 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
 {
     switch (gyroModel){
     case ICM_42605_SPI:
+    case IIM_42652_SPI:
+    case IIM_42653_SPI:
         switch (config) {
         case GYRO_HARDWARE_LPF_NORMAL:
             return aafLUT42605[AAF_CONFIG_258HZ];
@@ -441,7 +464,6 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
         }
 
     case ICM_42688P_SPI:
-    case IIM_42653_SPI:
     default:
         switch (config) {
         case GYRO_HARDWARE_LPF_NORMAL:
@@ -460,4 +482,4 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
     }
 }
 
-#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42653
+#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42652 || USE_ACCGYRO_IIM42653
diff --git a/src/main/drivers/adc_impl.h b/src/main/drivers/adc_impl.h
index 66baa5da9c..add1083bf2 100644
--- a/src/main/drivers/adc_impl.h
+++ b/src/main/drivers/adc_impl.h
@@ -20,10 +20,14 @@
 
 #pragma once
 
+#include "platform.h"
 #include "drivers/adc.h"
 #include "drivers/dma.h"
 #include "drivers/io_types.h"
-#include "drivers/rcc_types.h"
+
+#if PLATFORM_TRAIT_RCC
+#include "platform/rcc_types.h"
+#endif
 
 #if defined(STM32F4) || defined(STM32F7)
 #define ADC_TAG_MAP_COUNT 16
@@ -73,8 +77,8 @@ typedef struct adcTagMap_s {
 #define ADC_DEVICES_345 ((1 << ADCDEV_3)|(1 << ADCDEV_4)|(1 << ADCDEV_5))
 
 typedef struct adcDevice_s {
-#if !defined(SIMULATOR_BUILD)
     ADC_TypeDef* ADCx;
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rccADC;
 #endif
 #if !defined(USE_DMA_SPEC)
diff --git a/src/main/drivers/bus_i2c.h b/src/main/drivers/bus_i2c.h
index 74dcfadb3d..29176a9a7c 100644
--- a/src/main/drivers/bus_i2c.h
+++ b/src/main/drivers/bus_i2c.h
@@ -23,7 +23,6 @@
 #include "platform.h"
 
 #include "drivers/io_types.h"
-#include "drivers/rcc_types.h"
 
 #ifndef I2C_DEVICE
 #define I2C_DEVICE I2CINVALID
@@ -31,20 +30,18 @@
 
 typedef enum I2CDevice {
     I2CINVALID = -1,
-    I2CDEV_1   = 0,
+    I2CDEV_FIRST = 0,
+#if defined(USE_I2C_DEVICE_0)
+    I2CDEV_0   = I2CDEV_FIRST,
+    I2CDEV_1,
+#else
+    I2CDEV_1   = I2CDEV_FIRST,
+#endif
     I2CDEV_2,
     I2CDEV_3,
     I2CDEV_4,
 } I2CDevice;
 
-#if defined(STM32F4) || defined(APM32F4)
-#define I2CDEV_COUNT 3
-#elif defined(STM32F7)
-#define I2CDEV_COUNT 4
-#else
-#define I2CDEV_COUNT 4
-#endif
-
 // Macros to convert between CLI bus number and I2CDevice.
 #define I2C_CFG_TO_DEV(x)   ((x) - 1)
 #define I2C_DEV_TO_CFG(x)   ((x) + 1)
@@ -54,7 +51,7 @@ typedef enum I2CDevice {
 #define I2C_ADDR7_MAX       119
 
 struct i2cConfig_s;
-void i2cHardwareConfigure(const struct i2cConfig_s *i2cConfig);
+void i2cPinConfigure(const struct i2cConfig_s *i2cConfig);
 void i2cInit(I2CDevice device);
 bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data);
 bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data);
diff --git a/src/main/drivers/bus_i2c_impl.h b/src/main/drivers/bus_i2c_impl.h
index 0dd1fb2c99..2ce413685b 100644
--- a/src/main/drivers/bus_i2c_impl.h
+++ b/src/main/drivers/bus_i2c_impl.h
@@ -23,7 +23,10 @@
 #include "platform.h"
 
 #include "drivers/io_types.h"
-#include "drivers/rcc_types.h"
+
+#if PLATFORM_TRAIT_RCC
+#include "platform/rcc_types.h"
+#endif
 
 #define I2C_TIMEOUT_US          10000
 #define I2C_TIMEOUT_SYS_TICKS   (I2C_TIMEOUT_US / 1000)
@@ -32,12 +35,12 @@
 
 typedef struct i2cPinDef_s {
     ioTag_t ioTag;
-#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
     uint8_t af;
 #endif
 } i2cPinDef_t;
 
-#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
 #define I2CPINDEF(pin, af) { DEFIO_TAG_E(pin), af }
 #else
 #define I2CPINDEF(pin) { DEFIO_TAG_E(pin) }
@@ -48,14 +51,16 @@ typedef struct i2cHardware_s {
     I2C_TypeDef *reg;
     i2cPinDef_t sclPins[I2C_PIN_SEL_MAX];
     i2cPinDef_t sdaPins[I2C_PIN_SEL_MAX];
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rcc;
+#endif
     uint8_t ev_irq;
     uint8_t er_irq;
 } i2cHardware_t;
 
 extern const i2cHardware_t i2cHardware[];
 
-#if defined(STM32F4)
+#if I2C_TRAIT_STATE
 typedef struct i2cState_s {
     volatile bool error;
     volatile bool busy;
@@ -74,7 +79,7 @@ typedef struct i2cDevice_s {
     I2C_TypeDef *reg;
     IO_t scl;
     IO_t sda;
-#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
     uint8_t sclAF;
     uint8_t sdaAF;
 #endif
@@ -82,10 +87,10 @@ typedef struct i2cDevice_s {
     uint16_t clockSpeed;
 
     // MCU/Driver dependent member follows
-#if defined(STM32F4)
+#if I2C_TRAIT_STATE
     i2cState_t state;
 #endif
-#if defined(USE_HAL_DRIVER) || defined(AT32F4)
+#if I2C_TRAIT_HANDLE
     I2C_HandleTypeDef handle;
 #endif
 } i2cDevice_t;
diff --git a/src/main/drivers/bus_quadspi.c b/src/main/drivers/bus_quadspi.c
index 4944e12d0d..7ce4069cd4 100644
--- a/src/main/drivers/bus_quadspi.c
+++ b/src/main/drivers/bus_quadspi.c
@@ -32,7 +32,10 @@
 #include "drivers/bus_quadspi_impl.h"
 #include "drivers/exti.h"
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+
+#if PLATFORM_TRAIT_RCC
+#include "platform/rcc.h"
+#endif
 
 #include "pg/bus_quadspi.h"
 
@@ -264,7 +267,9 @@ void quadSpiPinConfigure(const quadSpiConfig_t *pConfig)
 
         if (haveResources) {
             pDev->dev = hw->reg;
+#if PLATFORM_TRAIT_RCC
             pDev->rcc = hw->rcc;
+#endif
         }
     }
 }
diff --git a/src/main/drivers/bus_quadspi.h b/src/main/drivers/bus_quadspi.h
index 6defb3514f..7fdb75cceb 100644
--- a/src/main/drivers/bus_quadspi.h
+++ b/src/main/drivers/bus_quadspi.h
@@ -23,7 +23,6 @@
 #pragma once
 
 #include "drivers/io_types.h"
-#include "drivers/rcc_types.h"
 
 #include "pg/pg.h"
 #include "pg/pg_ids.h"
diff --git a/src/main/drivers/bus_quadspi_impl.h b/src/main/drivers/bus_quadspi_impl.h
index eda709b918..b226f2723a 100644
--- a/src/main/drivers/bus_quadspi_impl.h
+++ b/src/main/drivers/bus_quadspi_impl.h
@@ -22,17 +22,19 @@
 
 #pragma once
 
+#include "platform.h"
+
+#if PLATFORM_TRAIT_RCC
+#include "platform/rcc_types.h"
+#endif
+
 typedef struct quadSpiPinDef_s {
     ioTag_t pin;
-#if defined(STM32H7)
+#if QUADSPI_TRAIT_AF_PIN
     uint8_t af;
 #endif
 } quadSpiPinDef_t;
 
-#if defined(STM32H7)
-#define MAX_QUADSPI_PIN_SEL 3
-#endif
-
 typedef struct quadSpiHardware_s {
     QUADSPIDevice device;
     QUADSPI_TypeDef *reg;
@@ -48,7 +50,9 @@ typedef struct quadSpiHardware_s {
     quadSpiPinDef_t bk2IO3Pins[MAX_QUADSPI_PIN_SEL];
     quadSpiPinDef_t bk2CSPins[MAX_QUADSPI_PIN_SEL];
 
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rcc;
+#endif
 } quadSpiHardware_t;
 
 extern const quadSpiHardware_t quadSpiHardware[];
@@ -78,9 +82,12 @@ typedef struct QUADSPIDevice_s {
     uint8_t bk2IO3AF;
     uint8_t bk2CSAF;
 #endif
+
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rcc;
+#endif
     volatile uint16_t errorCount;
-#if defined(USE_HAL_DRIVER)
+#if QUADSPI_TRAIT_HANDLE
     QSPI_HandleTypeDef hquadSpi;
 #endif
 } quadSpiDevice_t;
diff --git a/src/main/drivers/bus_spi_impl.h b/src/main/drivers/bus_spi_impl.h
index cccca9a73d..4b5106c8c4 100644
--- a/src/main/drivers/bus_spi_impl.h
+++ b/src/main/drivers/bus_spi_impl.h
@@ -20,13 +20,19 @@
 
 #pragma once
 
+#include "platform.h"
+
+#if PLATFORM_TRAIT_RCC
+#include "platform/rcc_types.h"
+#endif
+
 #define SPI_TIMEOUT_US  10000
 
 #define BUS_SPI_FREE   0x0
 
 typedef struct spiPinDef_s {
     ioTag_t pin;
-#if defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if SPI_TRAIT_AF_PIN //TODO: move to GPIO
     uint8_t af;
 #endif
 } spiPinDef_t;
@@ -37,33 +43,40 @@ typedef struct spiHardware_s {
     spiPinDef_t sckPins[MAX_SPI_PIN_SEL];
     spiPinDef_t misoPins[MAX_SPI_PIN_SEL];
     spiPinDef_t mosiPins[MAX_SPI_PIN_SEL];
-#ifndef STM32F7
+#if SPI_TRAIT_AF_PORT
     uint8_t af;
 #endif
+
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rcc;
+#endif
+
 #ifdef USE_DMA
     uint8_t dmaIrqHandler;
 #endif
 } spiHardware_t;
 
-extern const spiHardware_t spiHardware[];
+extern const spiHardware_t spiHardware[SPIDEV_COUNT];
 
 typedef struct SPIDevice_s {
     SPI_TypeDef *dev;
     ioTag_t sck;
     ioTag_t miso;
     ioTag_t mosi;
-#if defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if SPI_TRAIT_AF_PIN
     uint8_t sckAF;
     uint8_t misoAF;
     uint8_t mosiAF;
-#else
+#endif
+#if SPI_TRAIT_AF_PORT
     uint8_t af;
 #endif
-#if defined(HAL_SPI_MODULE_ENABLED)
+#if SPI_TRAIT_HANDLE
     SPI_HandleTypeDef hspi;
 #endif
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rcc;
+#endif
     volatile uint16_t errorCount;
     bool leadingEdge;
 #ifdef USE_DMA
diff --git a/src/main/drivers/dshot.h b/src/main/drivers/dshot.h
index 19105b0659..609fc22892 100644
--- a/src/main/drivers/dshot.h
+++ b/src/main/drivers/dshot.h
@@ -95,6 +95,8 @@ uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
 extern bool useDshotTelemetry;
 extern uint8_t dshotMotorCount;
 
+bool dshotPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig);
+
 #ifdef USE_DSHOT_TELEMETRY
 
 typedef struct dshotTelemetryMotorState_s {
@@ -113,7 +115,6 @@ typedef struct dshotTelemetryState_s {
     dshotRawValueState_t rawValueState;
 } dshotTelemetryState_t;
 
-#ifdef USE_DSHOT_TELEMETRY
 extern uint32_t readDoneCount;
 
 FAST_DATA_ZERO_INIT extern uint32_t inputStampUs;
@@ -125,10 +126,6 @@ typedef struct dshotTelemetryCycleCounters_s {
 
 FAST_DATA_ZERO_INIT extern dshotTelemetryCycleCounters_t dshotDMAHandlerCycleCounters;
 
-#endif
-
-bool dshotPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig);
-
 extern dshotTelemetryState_t dshotTelemetryState;
 
 #ifdef USE_DSHOT_TELEMETRY_STATS
diff --git a/src/main/drivers/dshot_command.c b/src/main/drivers/dshot_command.c
index 90f80185d8..fc95dbc3aa 100644
--- a/src/main/drivers/dshot_command.c
+++ b/src/main/drivers/dshot_command.c
@@ -149,7 +149,20 @@ static bool allMotorsAreIdle(void)
 
 bool dshotStreamingCommandsAreEnabled(void)
 {
-    return motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS;
+    static bool firstCommand = true;
+    bool goodMotorDetectDelay;
+
+    if (firstCommand) {
+        goodMotorDetectDelay = motorGetMotorEnableTimeMs() && (cmpTimeMs(millis(), motorGetMotorEnableTimeMs()) > DSHOT_PROTOCOL_DETECTION_DELAY_MS);
+
+        if (goodMotorDetectDelay) {
+            firstCommand = false;
+        }
+    } else {
+        goodMotorDetectDelay = true;
+    }
+
+    return motorIsEnabled() && goodMotorDetectDelay;
 }
 
 static bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
@@ -203,9 +216,11 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
     }
 
     if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
+#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
         bool isBitbangActive = false;
 #ifdef USE_DSHOT_BITBANG
         isBitbangActive = isDshotBitbangActive(&motorConfig()->dev);
+#endif
 #endif
         // Fake command in queue. Blocking commands are launched from cli, and no inline commands are running
         for (uint8_t i = 0; i < motorDeviceCount(); i++) {
diff --git a/src/main/drivers/io.c b/src/main/drivers/io.c
index 7c8dc12203..25f905143a 100644
--- a/src/main/drivers/io.c
+++ b/src/main/drivers/io.c
@@ -22,14 +22,10 @@
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
 
 #include "common/utils.h"
 
-// io ports defs are stored in array by index now
-struct ioPortDef_s {
-    rccPeriphTag_t rcc;
-};
+// io ports defs are stored by index in array ioRecs of ioRec_t
 
 ioRec_t* IO_Rec(IO_t io)
 {
@@ -48,39 +44,6 @@ uint16_t IO_Pin(IO_t io)
     return ioRec->pin;
 }
 
-#if defined(STM32F4) || defined(APM32F4)
-int IO_EXTI_PortSourceGPIO(IO_t io)
-{
-    return IO_GPIOPortIdx(io);
-}
-#endif
-
-int IO_GPIO_PortSource(IO_t io)
-{
-    return IO_GPIOPortIdx(io);
-}
-
-// zero based pin index
-int IO_GPIOPinIdx(IO_t io)
-{
-    if (!io) {
-        return -1;
-    }
-    return 31 - __builtin_clz(IO_Pin(io));
-}
-
-#if defined(STM32F4) || defined(APM32F4)
-int IO_EXTI_PinSource(IO_t io)
-{
-    return IO_GPIOPinIdx(io);
-}
-#endif
-
-int IO_GPIO_PinSource(IO_t io)
-{
-    return IO_GPIOPinIdx(io);
-}
-
 // claim IO pin, set owner and resources
 void IOInit(IO_t io, resourceOwner_e owner, uint8_t index)
 {
diff --git a/src/main/drivers/io_def.h b/src/main/drivers/io_def.h
index 6566bd34fb..2204005221 100644
--- a/src/main/drivers/io_def.h
+++ b/src/main/drivers/io_def.h
@@ -41,11 +41,24 @@
 // get ioRec by index
 #define DEFIO_REC_INDEXED(idx) (ioRecs + (idx))
 
+// split ioTag bits between pin and port
+// port is encoded as +1 to avoid collision with 0x0 (false as bool)
+#ifndef DEFIO_PORT_PINS
+// pins per port
+#define DEFIO_PORT_PINS 16
+#endif
+
+STATIC_ASSERT((DEFIO_PORT_PINS & (DEFIO_PORT_PINS - 1)) == 0, "DEFIO_PORT_PINS must be power of 2");
+
+#define DEFIO_PORT_BITSHIFT LOG2(DEFIO_PORT_PINS)
+#define DEFIO_PIN_BITMASK   ((1 << DEFIO_PORT_BITSHIFT ) - 1)
+
 // ioTag_t accessor macros
-#define DEFIO_TAG_MAKE(gpioid, pin) ((ioTag_t)((((gpioid) + 1) << 4) | (pin)))
+#define DEFIO_TAG_MAKE(gpioid, pin) ((ioTag_t)((((gpioid) + 1) << DEFIO_PORT_BITSHIFT) | (pin)))
 #define DEFIO_TAG_ISEMPTY(tag) (!(tag))
-#define DEFIO_TAG_GPIOID(tag) (((tag) >> 4) - 1)
-#define DEFIO_TAG_PIN(tag) ((tag) & 0x0f)
+#define DEFIO_TAG_GPIOID(tag) (((tag) >> DEFIO_PORT_BITSHIFT) - 1)
+#define DEFIO_TAG_PIN(tag) ((tag) & DEFIO_PIN_BITMASK)
+
 
 // TARGET must define used pins
 #include "target.h"
diff --git a/src/main/drivers/rangefinder/rangefinder_hcsr04.c b/src/main/drivers/rangefinder/rangefinder_hcsr04.c
index 72d3e201b8..dc01608565 100644
--- a/src/main/drivers/rangefinder/rangefinder_hcsr04.c
+++ b/src/main/drivers/rangefinder/rangefinder_hcsr04.c
@@ -30,7 +30,6 @@
 #include "drivers/exti.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
 #include "drivers/time.h"
 
 #include "drivers/rangefinder/rangefinder.h"
diff --git a/src/main/drivers/rangefinder/rangefinder_lidartf.c b/src/main/drivers/rangefinder/rangefinder_lidartf.c
index 643b66694a..51e4043fa4 100644
--- a/src/main/drivers/rangefinder/rangefinder_lidartf.c
+++ b/src/main/drivers/rangefinder/rangefinder_lidartf.c
@@ -34,16 +34,24 @@
 #include "drivers/rangefinder/rangefinder.h"
 #include "drivers/rangefinder/rangefinder_lidartf.h"
 
-#define TF_DEVTYPE_NONE 0
-#define TF_DEVTYPE_MINI 1
-#define TF_DEVTYPE_02   2
-#define TF_DEVTYPE_NOVA 3
+typedef struct {
+    rangefinderType_e rfType;
+    uint16_t rangeMin;
+    uint16_t rangeMax;
+} lidarTFInfo_t;
 
-static uint8_t tfDevtype = TF_DEVTYPE_NONE;
+
+static const lidarTFInfo_t *devInfo = NULL;
+static const lidarTFInfo_t devInfos[] = {
+    { .rfType = RANGEFINDER_TFMINI, .rangeMin = 40, .rangeMax = 1200},
+    { .rfType = RANGEFINDER_TF02,   .rangeMin = 40, .rangeMax = 2200},
+    { .rfType = RANGEFINDER_TFNOVA, .rangeMin = 10, .rangeMax = 1400},
+};
 
 #define TF_FRAME_LENGTH    6             // Excluding sync bytes (0x59) x 2 and checksum
 #define TF_FRAME_SYNC_BYTE 0x59
 #define TF_TIMEOUT_MS      (100 * 2)
+#define TF_TASK_PERIOD_MS  10
 
 //
 // Benewake TFmini frame format
@@ -98,21 +106,10 @@ static uint8_t tfDevtype = TF_DEVTYPE_NONE;
 // Credibility
 // 1. If Confidence level < 90, unreliable
 // 2. If distance is 14m (1400cm), then OoR.
-//
+
 #define TF_NOVA_FRAME_CONFIDENCE 5
 
-// Maximum ratings
-
-#define TF_MINI_RANGE_MIN 40
-#define TF_MINI_RANGE_MAX 1200
-
-#define TF_02_RANGE_MIN 40
-#define TF_02_RANGE_MAX 2200
-
-#define TF_NOVA_RANGE_MIN 10
-#define TF_NOVA_RANGE_MAX 1400
-
-#define TF_DETECTION_CONE_DECIDEGREES 900
+#define TF_DETECTION_CONE_DECIDEGREES 900  // TODO
 
 static serialPort_t *tfSerialPort = NULL;
 
@@ -130,21 +127,35 @@ static uint8_t tfReceivePosition;
 // TFmini and TF02
 // Command for 100Hz sampling (10msec interval)
 // At 100Hz scheduling, skew will cause 10msec delay at the most.
-static const uint8_t tfCmd[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 };
+// This command format does not match latest Benewake documentation
+static const uint8_t tfConfigCmd[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 };
 
-static int32_t lidarTFValue;
-static uint16_t lidarTFerrors = 0;
+static int lidarTFValue;
+static unsigned lidarTFerrors = 0;
 
-static void lidarTFSendCommand(void)
+
+static const lidarTFInfo_t* findInfo(rangefinderType_e rfType)
 {
-    switch (tfDevtype) {
-    case TF_DEVTYPE_MINI:
-    case TF_DEVTYPE_02:
-        serialWriteBuf(tfSerialPort, tfCmd, sizeof(tfCmd));
+    for (const lidarTFInfo_t* p = devInfos; p < ARRAYEND(devInfos); p++) {
+        if (p->rfType == rfType) {
+            return p;
+        }
+    }
+    return NULL;
+}
+
+// configure/reconfigure device
+// may be called multiple times (when frames are missing)
+static void lidarTFConfig(rangefinderDev_t *dev, const lidarTFInfo_t* inf)
+{
+    UNUSED(dev);
+    switch (inf->rfType) {
+    case RANGEFINDER_TFMINI:
+    case RANGEFINDER_TF02:
+        serialWriteBuf(tfSerialPort, tfConfigCmd, sizeof(tfConfigCmd));
         break;
     default:
         break;
-
     }
 }
 
@@ -156,13 +167,54 @@ static void lidarTFInit(rangefinderDev_t *dev)
     tfReceivePosition = 0;
 }
 
+static int tfProcessFrame(const uint8_t* frame, int len)
+{
+    UNUSED(len);
+    uint16_t distance = frame[0] | (frame[1] << 8);
+    uint16_t strength = frame[2] | (frame[3] << 8);
+
+    DEBUG_SET(DEBUG_LIDAR_TF, 0, distance);  // 0,1
+    DEBUG_SET(DEBUG_LIDAR_TF, 1, strength);  // 2,3
+    DEBUG_SET(DEBUG_LIDAR_TF, 2, frame[4]);
+    DEBUG_SET(DEBUG_LIDAR_TF, 3, frame[5]);
+
+    // common distance check
+    if (distance < devInfo->rangeMin || distance > devInfo->rangeMax) {
+        return RANGEFINDER_OUT_OF_RANGE;
+    }
+
+    switch (devInfo->rfType) {
+    case RANGEFINDER_TFMINI:
+        if (frame[TF_MINI_FRAME_INTEGRAL_TIME] == 7) {
+            // When integral time is long (7), measured distance tends to be longer by 12~13.
+            distance -= 13;
+        }
+        break;
+    case RANGEFINDER_TF02:
+        if (frame[TF_02_FRAME_SIG] < 7) {
+            return RANGEFINDER_OUT_OF_RANGE;
+
+        }
+        break;
+    case RANGEFINDER_TFNOVA:
+        if (frame[TF_NOVA_FRAME_CONFIDENCE] < 90) {
+            return RANGEFINDER_OUT_OF_RANGE;
+        }
+        break;
+    default:
+        return RANGEFINDER_HARDWARE_FAILURE;  // internal error
+    }
+    // distance is valid
+    return distance;
+}
+
 static void lidarTFUpdate(rangefinderDev_t *dev)
 {
-    UNUSED(dev);
     static timeMs_t lastFrameReceivedMs = 0;
+    static timeMs_t lastReconfMs = 0;
     const timeMs_t timeNowMs = millis();
 
-    if (tfSerialPort == NULL) {
+    if (tfSerialPort == NULL || devInfo == NULL) {
         return;
     }
 
@@ -190,76 +242,37 @@ static void lidarTFUpdate(rangefinderDev_t *dev)
             }
             break;
 
-        case TF_FRAME_STATE_WAIT_CKSUM:
-            {
-                uint8_t cksum = TF_FRAME_SYNC_BYTE + TF_FRAME_SYNC_BYTE;
-                for (int i = 0; i < TF_FRAME_LENGTH; i++) {
-                    cksum += tfFrame[i];
-                }
-
-                if (c == cksum) {
-
-                    uint16_t distance = tfFrame[0] | (tfFrame[1] << 8);
-                    uint16_t strength = tfFrame[2] | (tfFrame[3] << 8);
-
-                    DEBUG_SET(DEBUG_LIDAR_TF, 0, distance);
-                    DEBUG_SET(DEBUG_LIDAR_TF, 1, strength);
-                    DEBUG_SET(DEBUG_LIDAR_TF, 2, tfFrame[4]);
-                    DEBUG_SET(DEBUG_LIDAR_TF, 3, tfFrame[5]);
-
-                    switch (tfDevtype) {
-                    case TF_DEVTYPE_MINI:
-                        if (distance >= TF_MINI_RANGE_MIN && distance < TF_MINI_RANGE_MAX) {
-                            lidarTFValue = distance;
-                            if (tfFrame[TF_MINI_FRAME_INTEGRAL_TIME] == 7) {
-                                 // When integral time is long (7), measured distance tends to be longer by 12~13.
-                                lidarTFValue -= 13;
-                            }
-                        } else {
-                            lidarTFValue = -1;
-                        }
-                        break;
-
-                    case TF_DEVTYPE_02:
-                        if (distance >= TF_02_RANGE_MIN && distance < TF_02_RANGE_MAX && tfFrame[TF_02_FRAME_SIG] >= 7) {
-                            lidarTFValue = distance;
-                        } else {
-                            lidarTFValue = -1;
-                        }
-                        break;
-
-                    case TF_DEVTYPE_NOVA:
-                        if (distance >= TF_NOVA_RANGE_MIN && distance <= TF_NOVA_RANGE_MAX && tfFrame[TF_NOVA_FRAME_CONFIDENCE] >= 90) {
-                            lidarTFValue = distance;
-                        } else {
-                            lidarTFValue = -1;
-                        }
-                        break;
-                    }
-                    lastFrameReceivedMs = timeNowMs;
-                } else {
-                    // Checksum error. Simply discard the current frame.
-                    ++lidarTFerrors;
-                    //DEBUG_SET(DEBUG_LIDAR_TF, 3, lidarTFerrors);
-                }
+        case TF_FRAME_STATE_WAIT_CKSUM: {
+            uint8_t cksum = TF_FRAME_SYNC_BYTE + TF_FRAME_SYNC_BYTE;  // SYNC bytes are checksummed too, but not stored
+            for (int i = 0; i < TF_FRAME_LENGTH; i++) {
+                cksum += tfFrame[i];
             }
 
+            if (c == cksum) {
+                lidarTFValue = tfProcessFrame(tfFrame, TF_FRAME_LENGTH);
+                lastFrameReceivedMs = timeNowMs;
+            } else {
+                // Checksum error. Simply ignore the current frame.
+                ++lidarTFerrors;
+                DEBUG_SET(DEBUG_LIDAR_TF, 4, lidarTFerrors);
+            }
             tfFrameState = TF_FRAME_STATE_WAIT_START1;
             tfReceivePosition = 0;
-
             break;
         }
+        }
     }
 
-    // If valid frame hasn't been received for more than a timeout, resend command.
-
-    if (timeNowMs - lastFrameReceivedMs > TF_TIMEOUT_MS) {
-        lidarTFSendCommand();
+    // If valid frame hasn't been received for more than a timeout, try reinit.
+    if (cmp32(timeNowMs, lastFrameReceivedMs) > TF_TIMEOUT_MS
+        && cmp32(timeNowMs, lastReconfMs) > 500) {
+        lidarTFConfig(dev, devInfo);
+        lastReconfMs = timeNowMs;    // delay sensor reconf
     }
 }
 
 // Return most recent device output in cm
-
+// TODO - handle timeout; return value only once (see lidarMT)
 static int32_t lidarTFGetDistance(rangefinderDev_t *dev)
 {
     UNUSED(dev);
@@ -267,37 +280,25 @@ static int32_t lidarTFGetDistance(rangefinderDev_t *dev)
     return lidarTFValue;
 }
 
-static bool lidarTFDetect(rangefinderDev_t *dev, uint8_t devtype)
+bool lidarTFDetect(rangefinderDev_t *dev, rangefinderType_e rfType)
 {
-    const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LIDAR_TF);
+    const lidarTFInfo_t* inf = findInfo(rfType);
+    if (!inf) {
+        return false; // supplied rfType is not TF
+    }
 
+    const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LIDAR_TF);
     if (!portConfig) {
         return false;
     }
 
     tfSerialPort = openSerialPort(portConfig->identifier, FUNCTION_LIDAR_TF, NULL, NULL, 115200, MODE_RXTX, 0);
-
     if (tfSerialPort == NULL) {
         return false;
     }
 
-    tfDevtype = devtype;
-
-    dev->delayMs = 10;
-    switch (devtype) {
-    case TF_DEVTYPE_MINI:
-        dev->maxRangeCm = TF_MINI_RANGE_MAX;
-        break;
-    case TF_DEVTYPE_02:
-        dev->maxRangeCm = TF_02_RANGE_MAX;
-        break;
-    case TF_DEVTYPE_NOVA:
-        dev->maxRangeCm = TF_NOVA_RANGE_MAX;
-        break;
-    default:
-        dev->maxRangeCm = 0;
-        break;
-    }
+    dev->delayMs = TF_TASK_PERIOD_MS;
+    dev->maxRangeCm = inf->rangeMax;
 
     dev->detectionConeDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
     dev->detectionConeExtendedDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
@@ -306,22 +307,12 @@ static bool lidarTFDetect(rangefinderDev_t *dev, uint8_t devtype)
     dev->update = &lidarTFUpdate;
     dev->read = &lidarTFGetDistance;
 
+    devInfo = inf;
+
+    // configure device
+    lidarTFConfig(dev, devInfo);
+
     return true;
 }
 
-bool lidarTFminiDetect(rangefinderDev_t *dev)
-{
-    return lidarTFDetect(dev, TF_DEVTYPE_MINI);
-}
-
-bool lidarTF02Detect(rangefinderDev_t *dev)
-{
-    return lidarTFDetect(dev, TF_DEVTYPE_02);
-}
-
-bool lidarTFNovaDetect(rangefinderDev_t *dev)
-{
-    return lidarTFDetect(dev, TF_DEVTYPE_NOVA);
-}
-
 #endif
diff --git a/src/main/drivers/rangefinder/rangefinder_lidartf.h b/src/main/drivers/rangefinder/rangefinder_lidartf.h
index cd786a79bc..c84370dd4c 100644
--- a/src/main/drivers/rangefinder/rangefinder_lidartf.h
+++ b/src/main/drivers/rangefinder/rangefinder_lidartf.h
@@ -20,10 +20,7 @@
 
 #pragma once
 
-#include "common/time.h"
+#include "drivers/rangefinder/rangefinder.h"
+#include "sensors/rangefinder.h"
 
-#define RANGEFINDER_TF_TASK_PERIOD_MS 10
-
-bool lidarTFminiDetect(rangefinderDev_t *dev);
-bool lidarTF02Detect(rangefinderDev_t *dev);
-bool lidarTFNovaDetect(rangefinderDev_t *dev);
+bool lidarTFDetect(rangefinderDev_t *dev, rangefinderType_e rfType);
diff --git a/src/main/drivers/rx/rx_spi.c b/src/main/drivers/rx/rx_spi.c
index 05c6e803ea..19e7d69a1e 100644
--- a/src/main/drivers/rx/rx_spi.c
+++ b/src/main/drivers/rx/rx_spi.c
@@ -35,7 +35,6 @@
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
 #include "drivers/system.h"
 #include "drivers/time.h"
 
diff --git a/src/main/drivers/serial_uart.c b/src/main/drivers/serial_uart.c
index fb5c5291e3..172719885e 100644
--- a/src/main/drivers/serial_uart.c
+++ b/src/main/drivers/serial_uart.c
@@ -42,7 +42,6 @@
 
 #include "drivers/dma.h"
 #include "drivers/dma_reqmap.h"
-#include "drivers/rcc.h"
 #include "drivers/serial.h"
 #include "drivers/serial_impl.h"
 #include "drivers/serial_uart.h"
diff --git a/src/main/drivers/serial_uart_impl.h b/src/main/drivers/serial_uart_impl.h
index 9a6304129c..988a2858b2 100644
--- a/src/main/drivers/serial_uart_impl.h
+++ b/src/main/drivers/serial_uart_impl.h
@@ -33,6 +33,10 @@
 
 #include "platform.h"
 
+#if PLATFORM_TRAIT_RCC
+#include "platform/rcc_types.h"
+#endif
+
 #ifndef UART_RX_BUFFER_SIZE
 #define UART_RX_BUFFER_SIZE     256
 #endif
diff --git a/src/main/drivers/serial_uart_pinconfig.c b/src/main/drivers/serial_uart_pinconfig.c
index 8d9b348354..896f0dce95 100644
--- a/src/main/drivers/serial_uart_pinconfig.c
+++ b/src/main/drivers/serial_uart_pinconfig.c
@@ -36,7 +36,6 @@
 
 #include "build/build_config.h"
 
-#include "drivers/rcc.h"
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
 #include "drivers/serial_uart_impl.h"
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index 40bae0689c..13bfec69c5 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -25,7 +25,11 @@
 
 #include "drivers/dma.h"
 #include "drivers/io_types.h"
-#include "drivers/rcc_types.h"
+
+#if PLATFORM_TRAIT_RCC
+#include "platform/rcc_types.h"
+#endif
+
 #include "drivers/resource.h"
 
 #ifdef USE_TIMER
@@ -69,7 +73,9 @@ typedef struct timerOvrHandlerRec_s {
 
 typedef struct timerDef_s {
     TIM_TypeDef *TIMx;
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rcc;
+#endif
     uint8_t inputIrq;
 } timerDef_t;
 
@@ -180,7 +186,9 @@ uint32_t timerClock(const TIM_TypeDef *tim);
 void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint32_t hz);  // TODO - just for migration
 void timerReconfigureTimeBase(TIM_TypeDef *tim, uint16_t period, uint32_t hz);
 
+#if PLATFORM_TRAIT_RCC
 rccPeriphTag_t timerRCC(const TIM_TypeDef *tim);
+#endif
 uint8_t timerInputIrq(const TIM_TypeDef *tim);
 
 #if defined(USE_TIMER_MGMT)
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index cab68d4d30..4cdcc4ba77 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -558,18 +558,8 @@ void tryArm(void)
             }
 #endif
             // choose crashflip outcome on arming
-            // disarm can arise in processRx() if the crashflip switch is reversed while in crashflip mode
-            // if we were unsuccessful, or cannot determin success, arming will be blocked and we can't get here
-            // hence we only get here with crashFlipModeActive if the switch was reversed and result successful
-            if (crashFlipModeActive) {
-                // flip was successful, continue into normal flight without need to disarm/rearm
-                // note: preceding disarm will have set motors to normal rotation direction
-                crashFlipModeActive = false;
-            } else {
-                // when arming and not in crashflip mode, block entry to crashflip if delayed by the dshot beeper,
-                // otherwise consider only the switch position
-                crashFlipModeActive = (tryingToArm == ARMING_DELAYED_CRASHFLIP) ? false : IS_RC_MODE_ACTIVE(BOXCRASHFLIP);
-            }
+            // consider only the switch position
+            crashFlipModeActive = IS_RC_MODE_ACTIVE(BOXCRASHFLIP);
 
             setMotorSpinDirection(crashFlipModeActive ? DSHOT_CMD_SPIN_DIRECTION_REVERSED : DSHOT_CMD_SPIN_DIRECTION_NORMAL);
         }
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index d48b5d6128..c156a4d0a6 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -624,11 +624,14 @@ void init(void)
 #endif
 
 #ifdef USE_I2C
-    i2cHardwareConfigure(i2cConfig(0));
+    i2cPinConfigure(i2cConfig(0));
 
     // Note: Unlike UARTs which are configured when client is present,
     // I2C buses are initialized unconditionally if they are configured.
 
+#ifdef USE_I2C_DEVICE_0
+    i2cInit(I2CDEV_0);
+#endif
 #ifdef USE_I2C_DEVICE_1
     i2cInit(I2CDEV_1);
 #endif
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index cf261669b6..91a5cb0fba 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -255,6 +255,7 @@ static void mspEscPassthroughFn(serialPort_t *serialPort)
 }
 #endif
 
+#ifdef USE_SERIAL_PASSTHROUGH
 static serialPort_t *mspFindPassthroughSerialPort(void)
 {
     serialPortUsage_t *portUsage = NULL;
@@ -284,9 +285,13 @@ static void mspSerialPassthroughFn(serialPort_t *serialPort)
         serialPassthrough(passthroughPort, serialPort, NULL, NULL);
     }
 }
+#endif
 
 static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr *mspPostProcessFn)
 {
+#ifndef USE_SERIAL_PASSTHROUGH
+    UNUSED(mspPostProcessFn);
+#endif
     const unsigned int dataSize = sbufBytesRemaining(src);
     if (dataSize == 0) {
         // Legacy format
@@ -297,6 +302,7 @@ static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessF
     }
 
     switch (mspPassthroughMode) {
+#ifdef USE_SERIAL_PASSTHROUGH
     case MSP_PASSTHROUGH_SERIAL_ID:
     case MSP_PASSTHROUGH_SERIAL_FUNCTION_ID:
         if (mspFindPassthroughSerialPort()) {
@@ -308,6 +314,7 @@ static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessF
             sbufWriteU8(dst, 0);
         }
         break;
+#endif
 #ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
     case MSP_PASSTHROUGH_ESC_4WAY:
         // get channel number
diff --git a/src/main/pg/bus_i2c.c b/src/main/pg/bus_i2c.c
index 20ce63365d..3b83ac0a1a 100644
--- a/src/main/pg/bus_i2c.c
+++ b/src/main/pg/bus_i2c.c
@@ -41,6 +41,12 @@
 
 PG_REGISTER_ARRAY_WITH_RESET_FN(i2cConfig_t, I2CDEV_COUNT, i2cConfig, PG_I2C_CONFIG, 1);
 
+#ifndef I2C0_SCL_PIN
+#define I2C0_SCL_PIN NONE
+#endif
+#ifndef I2C0_SDA_PIN
+#define I2C0_SDA_PIN NONE
+#endif
 #ifndef I2C1_SCL_PIN
 #define I2C1_SCL_PIN NONE
 #endif
@@ -74,6 +80,9 @@ typedef struct i2cDefaultConfig_s {
 } i2cDefaultConfig_t;
 
 static const i2cDefaultConfig_t i2cDefaultConfig[] = {
+#ifdef USE_I2C_DEVICE_0
+    { I2CDEV_0, IO_TAG(I2C0_SCL_PIN), IO_TAG(I2C0_SDA_PIN), I2C0_PULLUP, I2C0_CLOCKSPEED },
+#endif
 #ifdef USE_I2C_DEVICE_1
     { I2CDEV_1, IO_TAG(I2C1_SCL_PIN), IO_TAG(I2C1_SDA_PIN), I2C1_PULLUP, I2C1_CLOCKSPEED },
 #endif
diff --git a/src/main/pg/bus_i2c.h b/src/main/pg/bus_i2c.h
index f460c48aa8..a8827f760f 100644
--- a/src/main/pg/bus_i2c.h
+++ b/src/main/pg/bus_i2c.h
@@ -22,7 +22,6 @@
 
 #include "drivers/bus_i2c.h"
 #include "drivers/io_types.h"
-#include "drivers/rcc_types.h"
 
 #include "pg/pg.h"
 
diff --git a/src/main/platform.h b/src/main/platform.h
index 4f0a0f9ed1..e7c3583fdc 100644
--- a/src/main/platform.h
+++ b/src/main/platform.h
@@ -33,7 +33,7 @@
 #include "target/common_pre.h"
 
 // MCU specific platform from platform/X
-#include "platform_mcu.h"
+#include "platform/platform.h"
 
 #include "target.h"
 #include "target/common_post.h"
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 2c4706b9ed..9464544642 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -53,6 +53,8 @@ typedef enum {
     ACC_IIM42653,
     ACC_ICM45605,
     ACC_ICM45686,
+    ACC_ICM40609D,
+    ACC_IIM42652,
     ACC_VIRTUAL
 } accelerationSensor_e;
 
diff --git a/src/main/sensors/acceleration_init.c b/src/main/sensors/acceleration_init.c
index 0d59e46858..46a9943379 100644
--- a/src/main/sensors/acceleration_init.c
+++ b/src/main/sensors/acceleration_init.c
@@ -48,6 +48,7 @@
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
 #include "drivers/accgyro/accgyro_spi_icm456xx.h"
+#include "drivers/accgyro/accgyro_spi_icm40609.h"
 
 #include "drivers/accgyro/accgyro_spi_lsm6dso.h"
 #include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
@@ -217,9 +218,10 @@ retry:
         FALLTHROUGH;
 #endif
 
-#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
+#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
     case ACC_ICM42605:
     case ACC_ICM42688P:
+    case ACC_IIM42652:
     case ACC_IIM42653:
         if (icm426xxSpiAccDetect(dev)) {
             switch (dev->mpuDetectionResult.sensor) {
@@ -229,6 +231,9 @@ retry:
             case ICM_42688P_SPI:
                 accHardware = ACC_ICM42688P;
                 break;
+            case IIM_42652_SPI:
+                accHardware = ACC_IIM42652;
+                break;
             case IIM_42653_SPI:
                 accHardware = ACC_IIM42653;
                 break;
@@ -297,6 +302,15 @@ retry:
         FALLTHROUGH;
 #endif
 
+#ifdef USE_ACCGYRO_ICM40609D
+    case ACC_ICM40609D:
+        if (icm40609SpiAccDetect(dev)) {
+            accHardware = ACC_ICM40609D;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_VIRTUAL_ACC
     case ACC_VIRTUAL:
         if (virtualAccDetect(dev)) {
diff --git a/src/main/sensors/gyro_init.c b/src/main/sensors/gyro_init.c
index 568386e560..7a2de5f353 100644
--- a/src/main/sensors/gyro_init.c
+++ b/src/main/sensors/gyro_init.c
@@ -48,6 +48,7 @@
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
 #include "drivers/accgyro/accgyro_spi_icm456xx.h"
+#include "drivers/accgyro/accgyro_spi_icm40609.h"
 
 #include "drivers/accgyro/accgyro_spi_l3gd20.h"
 #include "drivers/accgyro/accgyro_spi_lsm6dso.h"
@@ -317,6 +318,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
     case GYRO_LSM6DSO:
     case GYRO_LSM6DSV16X:
     case GYRO_ICM42688P:
+    case GYRO_IIM42652:
     case GYRO_IIM42653:
     case GYRO_ICM42605:
     case GYRO_ICM45686:
@@ -433,9 +435,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
         FALLTHROUGH;
 #endif
 
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
     case GYRO_ICM42605:
     case GYRO_ICM42688P:
+    case GYRO_IIM42652:
     case GYRO_IIM42653:
         if (icm426xxSpiGyroDetect(dev)) {
             switch (dev->mpuDetectionResult.sensor) {
@@ -445,6 +448,9 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
             case ICM_42688P_SPI:
                 gyroHardware = GYRO_ICM42688P;
                 break;
+            case IIM_42652_SPI:
+                gyroHardware = GYRO_IIM42652;
+                break;
             case IIM_42653_SPI:
                 gyroHardware = GYRO_IIM42653;
                 break;
@@ -514,6 +520,16 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
         FALLTHROUGH;
 #endif
 
+
+#ifdef USE_ACCGYRO_ICM40609D
+    case GYRO_ICM40609D:
+        if (icm40609SpiGyroDetect(dev)) {
+            gyroHardware = GYRO_ICM40609D;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_VIRTUAL_GYRO
     case GYRO_VIRTUAL:
         if (virtualGyroDetect(dev)) {
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index e243b5027f..4c1ac78d69 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -109,29 +109,13 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
+#if defined(USE_RANGEFINDER_TF)
         case RANGEFINDER_TFMINI:
-#if defined(USE_RANGEFINDER_TF)
-            if (lidarTFminiDetect(dev)) {
-                rangefinderHardware = RANGEFINDER_TFMINI;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
         case RANGEFINDER_TF02:
-#if defined(USE_RANGEFINDER_TF)
-            if (lidarTF02Detect(dev)) {
-                rangefinderHardware = RANGEFINDER_TF02;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
         case RANGEFINDER_TFNOVA:
-#if defined(USE_RANGEFINDER_TF)
-            if (lidarTFNovaDetect(dev)) {
-                rangefinderHardware = RANGEFINDER_TFNOVA;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
+            if (lidarTFDetect(dev, rangefinderHardwareToUse)) {
+                rangefinderHardware = rangefinderHardwareToUse;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(dev->delayMs));
             }
 #endif
             break;
diff --git a/src/main/target/common_defaults_post.h b/src/main/target/common_defaults_post.h
index e8b06bdf41..af162d6b5e 100644
--- a/src/main/target/common_defaults_post.h
+++ b/src/main/target/common_defaults_post.h
@@ -24,6 +24,9 @@
 #define DEBUG_MODE DEBUG_NONE
 #endif
 
+#ifndef I2C0_CLOCKSPEED
+#define I2C0_CLOCKSPEED 800
+#endif
 #ifndef I2C1_CLOCKSPEED
 #define I2C1_CLOCKSPEED 800
 #endif
@@ -40,11 +43,13 @@
 // Default values for internal pullup
 
 #if defined(USE_I2C_PULLUP)
+#define I2C0_PULLUP true
 #define I2C1_PULLUP true
 #define I2C2_PULLUP true
 #define I2C3_PULLUP true
 #define I2C4_PULLUP true
 #else
+#define I2C0_PULLUP false
 #define I2C1_PULLUP false
 #define I2C2_PULLUP false
 #define I2C3_PULLUP false
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 6a732310cf..ad68eee069 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -39,6 +39,10 @@
 
 */
 
+#ifndef PLATFORM_NO_LIBC
+#define PLATFORM_NO_LIBC 1
+#endif
+
 #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
 #define DEFAULT_AUX_CHANNEL_COUNT       MAX_AUX_CHANNEL_COUNT
 #else
@@ -101,6 +105,7 @@
     && !defined(USE_ACC_SPI_ICM20649) \
     && !defined(USE_ACC_SPI_ICM20689) \
     && !defined(USE_ACC_SPI_ICM42605) \
+    && !defined(USE_ACCGYRO_ICM40609D) \
     && !defined(USE_ACC_SPI_ICM42688P) \
     && !defined(USE_ACCGYRO_ICM45686) \
     && !defined(USE_ACCGYRO_ICM45605) \
@@ -109,8 +114,9 @@
     && !defined(USE_ACC_SPI_MPU6000) \
     && !defined(USE_ACC_SPI_MPU6500) \
     && !defined(USE_ACC_SPI_MPU9250) \
-    && !defined(USE_VIRTUAL_ACC) \
-    && !defined(USE_ACCGYRO_IIM42653)
+    && !defined(USE_ACCGYRO_IIM42652) \
+    && !defined(USE_ACCGYRO_IIM42653) \
+    && !defined(USE_VIRTUAL_ACC)
 #error At least one USE_ACC device definition required
 #endif
 
@@ -126,13 +132,15 @@
     && !defined(USE_GYRO_SPI_ICM42688P) \
     && !defined(USE_ACCGYRO_ICM45686) \
     && !defined(USE_ACCGYRO_ICM45605) \
+    && !defined(USE_ACCGYRO_ICM40609D) \
     && !defined(USE_ACCGYRO_LSM6DSO) \
     && !defined(USE_ACCGYRO_LSM6DSV16X) \
     && !defined(USE_GYRO_SPI_MPU6000) \
     && !defined(USE_GYRO_SPI_MPU6500) \
     && !defined(USE_GYRO_SPI_MPU9250) \
-    && !defined(USE_VIRTUAL_GYRO) \
-    && !defined(USE_ACCGYRO_IIM42653)
+    && !defined(USE_ACCGYRO_IIM42652) \
+    && !defined(USE_ACCGYRO_IIM42653) \
+    && !defined(USE_VIRTUAL_GYRO)
 #error At least one USE_GYRO device definition required
 #endif
 
@@ -470,11 +478,11 @@
 #define USE_GYRO_SPI_MPU6500
 #endif
 
-// Generate USE_SPI_GYRO or USE_I2C_GYRO
+// Generate USE_SPI_GYRO
 #if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) \
     || defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_ICM45686) \
     || defined(USE_ACCGYRO_ICM45605) || defined(USE_ACCGYRO_IIM42653) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) \
-    || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
+    || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_ACCGYRO_ICM40609D) || defined(USE_ACCGYRO_IIM42652)
 #ifndef USE_SPI_GYRO
 #define USE_SPI_GYRO
 #endif
@@ -596,7 +604,7 @@
 #endif
 #endif // USE_OPTICALFLOW_MT
 
-#if defined(USE_RANGEFINDER_HCSR04) || defined(USE_RANGEFINDER_SRF10) || defined(USE_RANGEFINDER_HCSR04_I2C) || defined(USE_RANGEFINDER_VL53L0X) || defined(USE_RANGEFINDER_UIB) || defined(USE_RANGEFINDER_TF) || defined(USE_RANGEFINDER_MT)
+#if defined(USE_RANGEFINDER_HCSR04) || defined(USE_RANGEFINDER_TF) || defined(USE_RANGEFINDER_MT)
 #ifndef USE_RANGEFINDER
 #define USE_RANGEFINDER
 #endif
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index d43b30aaaf..ed96a9f48f 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -116,10 +116,12 @@
 #define USE_GYRO_SPI_ICM42688P
 #define USE_ACCGYRO_ICM45686
 #define USE_ACCGYRO_ICM45605
+#define USE_ACCGYRO_IIM42652
 #define USE_ACCGYRO_IIM42653
 #define USE_ACC_SPI_ICM42605
 #define USE_ACC_SPI_ICM42688P
 #define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_ICM40609D
 
 #if TARGET_FLASH_SIZE > 512
 #define USE_ACC_MPU6050
diff --git a/src/platform/APM32/adc_apm32f4xx.c b/src/platform/APM32/adc_apm32f4xx.c
index 2b93c1eba6..38004b23be 100644
--- a/src/platform/APM32/adc_apm32f4xx.c
+++ b/src/platform/APM32/adc_apm32f4xx.c
@@ -32,7 +32,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/dma.h"
 #include "drivers/sensor.h"
 #include "drivers/adc.h"
@@ -270,8 +270,7 @@ void adcInit(const adcConfig_t *config)
         adcInitDevice(&adcInternal, 2);
         DDL_ADC_Enable(adcInternal.ADCx);
         adcInitInternalInjected(&adcInternal);
-    }
-    else {
+    } else {
         // Initialize for injected conversion
         adcInitInternalInjected(&adc);
     }
diff --git a/src/platform/APM32/apm32f4xx_ddl_ex.h b/src/platform/APM32/apm32f4xx_ddl_ex.h
index 187448df8d..30d53da2ac 100644
--- a/src/platform/APM32/apm32f4xx_ddl_ex.h
+++ b/src/platform/APM32/apm32f4xx_ddl_ex.h
@@ -31,10 +31,12 @@ __STATIC_INLINE void DDL_EX_TMR_DisableIT(TMR_TypeDef *TMRx, uint32_t Sources)
 {
     CLEAR_BIT(TMRx->DIEN, Sources);
 }
+
 __STATIC_INLINE void DDL_EX_TMR_EnableIT(TMR_TypeDef *TMRx, uint32_t Sources)
 {
     SET_BIT(TMRx->DIEN, Sources);
 }
+
 __STATIC_INLINE uint32_t DDL_EX_DMA_Stream_to_Stream(DMA_Stream_TypeDef *DMAx_Streamy)
 {
     STATIC_ASSERT(DMA1_Stream0_BASE - DMA1_BASE == sizeof(DMA_TypeDef), DMA_TypeDef_has_padding);
@@ -45,11 +47,13 @@ __STATIC_INLINE uint32_t DDL_EX_DMA_Stream_to_Stream(DMA_Stream_TypeDef *DMAx_St
 
     return (((uint32_t) DMAx_Streamy & 0XFF) - firstStreamOffset) / streamSize;
 }
+
 __STATIC_INLINE DMA_TypeDef *DDL_EX_DMA_Stream_to_DMA(DMA_Stream_TypeDef *DMAx_Streamy)
 {
     // clear stream address
     return (DMA_TypeDef *) (((uint32_t) DMAx_Streamy) & ((uint32_t) ~0XFF));
 }
+
 __STATIC_INLINE uint32_t DDL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy)
 {
     DMA_TypeDef *DMA = DDL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
@@ -57,6 +61,7 @@ __STATIC_INLINE uint32_t DDL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy)
 
     return DDL_DMA_DeInit(DMA, Stream);
 }
+
 __STATIC_INLINE uint32_t DDL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, DDL_DMA_InitTypeDef *DMA_InitStruct)
 {
     DMA_TypeDef *DMA = DDL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
@@ -64,6 +69,7 @@ __STATIC_INLINE uint32_t DDL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, DDL_D
 
     return DDL_DMA_Init(DMA, Stream, DMA_InitStruct);
 }
+
 __STATIC_INLINE void DDL_EX_DMA_SetDataLength(DMA_Stream_TypeDef* DMAx_Streamy, uint32_t NbData)
 {
     MODIFY_REG(DMAx_Streamy->NDATA, DMA_NDATAx, NbData);
@@ -81,6 +87,7 @@ __STATIC_INLINE void DDL_EX_DMA_EnableResource(DMA_Stream_TypeDef *DMAx_Streamy)
 {
     SET_BIT(DMAx_Streamy->SCFG, DMA_SCFGx_EN);
 }
+
 __STATIC_INLINE void DDL_EX_DMA_DisableResource(DMA_Stream_TypeDef *DMAx_Streamy)
 {
     CLEAR_BIT(DMAx_Streamy->SCFG, DMA_SCFGx_EN);
@@ -94,4 +101,4 @@ __STATIC_INLINE void DDL_EX_DMA_EnableIT_TC(DMA_Stream_TypeDef *DMAx_Streamy)
 __STATIC_INLINE void DDL_EX_TMR_CC_EnableNChannel(TMR_TypeDef *TMRx, uint32_t Channel)
 {
     DDL_TMR_CC_EnableChannel(TMRx, 4 * Channel);
-}
\ No newline at end of file
+}
diff --git a/src/platform/APM32/bus_i2c_apm32.c b/src/platform/APM32/bus_i2c_apm32.c
index 12eb1d803a..147e5e986a 100644
--- a/src/platform/APM32/bus_i2c_apm32.c
+++ b/src/platform/APM32/bus_i2c_apm32.c
@@ -31,7 +31,7 @@
 #include "drivers/io_impl.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
@@ -76,7 +76,7 @@ static volatile uint16_t i2cErrorCount = 0;
 
 static bool i2cHandleHardwareFailure(I2CDevice device)
 {
-    (void)device;
+    UNUSED(device);
     i2cErrorCount++;
     // reinit peripheral + clock out garbage
     //i2cInit(device);
@@ -103,13 +103,15 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
 
     HAL_StatusTypeDef status;
 
-    if (reg_ == 0xFF)
+    if (reg_ == 0xFF) {
         status = DAL_I2C_Master_Transmit(pHandle ,addr_ << 1, &data, 1, I2C_TIMEOUT_SYS_TICKS);
-    else
+    } else {
         status = DAL_I2C_Mem_Write(pHandle ,addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT, &data, 1, I2C_TIMEOUT_SYS_TICKS);
+    }
 
-    if (status != DAL_OK)
+    if (status != DAL_OK) {
         return i2cHandleHardwareFailure(device);
+    }
 
     return true;
 }
@@ -135,8 +137,7 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
         return false;
     }
 
-    if (status != DAL_OK)
-    {
+    if (status != DAL_OK) {
         return i2cHandleHardwareFailure(device);
     }
 
@@ -158,10 +159,11 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t
 
     DAL_StatusTypeDef status;
 
-    if (reg_ == 0xFF)
+    if (reg_ == 0xFF) {
         status = DAL_I2C_Master_Receive(pHandle ,addr_ << 1, buf, len, I2C_TIMEOUT_SYS_TICKS);
-    else
+    } else {
         status = DAL_I2C_Mem_Read(pHandle, addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT,buf, len, I2C_TIMEOUT_SYS_TICKS);
+    }
 
     if (status != DAL_OK) {
         return i2cHandleHardwareFailure(device);
@@ -206,8 +208,7 @@ bool i2cBusy(I2CDevice device, bool *error)
         *error = pHandle->ErrorCode;
     }
 
-    if (pHandle->State == DAL_I2C_STATE_READY)
-    {
+    if (pHandle->State == DAL_I2C_STATE_READY) {
         if (__DAL_I2C_GET_FLAG(pHandle, I2C_FLAG_BUSY) == SET)
         {
             return true;
@@ -218,5 +219,4 @@ bool i2cBusy(I2CDevice device, bool *error)
 
     return true;
 }
-
 #endif
diff --git a/src/platform/APM32/bus_i2c_apm32_init.c b/src/platform/APM32/bus_i2c_apm32_init.c
index 12dd1227d8..45fe92bfaa 100644
--- a/src/platform/APM32/bus_i2c_apm32_init.c
+++ b/src/platform/APM32/bus_i2c_apm32_init.c
@@ -30,7 +30,7 @@
 #include "drivers/io.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
diff --git a/src/platform/APM32/bus_spi_apm32.c b/src/platform/APM32/bus_spi_apm32.c
index 6b15adf29d..6c58c5e8da 100644
--- a/src/platform/APM32/bus_spi_apm32.c
+++ b/src/platform/APM32/bus_spi_apm32.c
@@ -35,7 +35,7 @@
 #include "drivers/bus_spi_impl.h"
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 // Use DMA if possible if this many bytes are to be transferred
 #define SPI_DMA_THRESHOLD 8
@@ -347,8 +347,7 @@ FAST_CODE void spiSequenceStart(const extDevice_t *dev)
             IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->sckAF);
             DDL_SPI_SetClockPhase(instance, DDL_SPI_PHASE_1EDGE);
             DDL_SPI_SetClockPolarity(instance, DDL_SPI_POLARITY_LOW);
-        }
-        else {
+        } else {
             IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->sckAF);
             DDL_SPI_SetClockPhase(instance, DDL_SPI_PHASE_2EDGE);
             DDL_SPI_SetClockPolarity(instance, DDL_SPI_POLARITY_HIGH);
diff --git a/src/platform/APM32/dma_apm32f4xx.c b/src/platform/APM32/dma_apm32f4xx.c
index 3c571a75e5..403f592fa4 100644
--- a/src/platform/APM32/dma_apm32f4xx.c
+++ b/src/platform/APM32/dma_apm32f4xx.c
@@ -29,7 +29,7 @@
 
 #include "drivers/nvic.h"
 #include "drivers/dma.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 
 /*
diff --git a/src/platform/APM32/dshot_bitbang.c b/src/platform/APM32/dshot_bitbang.c
index cf971adf97..caec5e0bec 100644
--- a/src/platform/APM32/dshot_bitbang.c
+++ b/src/platform/APM32/dshot_bitbang.c
@@ -450,14 +450,15 @@ static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorProtocolTypes_e pwmP
 
     bbGpioSetup(&bbMotors[motorIndex]);
 
+    do {
 #ifdef USE_DSHOT_TELEMETRY
     if (useDshotTelemetry) {
         bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_INVERTED);
-    } else
-#endif
-    {
-        bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_NONINVERTED);
+        break;
     }
+#endif
+        bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_NONINVERTED);
+    } while (false);
 
     bbSwitchToOutput(bbPort);
 
@@ -577,14 +578,15 @@ static void bbWriteInt(uint8_t motorIndex, uint16_t value)
 
     bbPort_t *bbPort = bbmotor->bbPort;
 
+    do {
 #ifdef USE_DSHOT_TELEMETRY
-    if (useDshotTelemetry) {
-        bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_INVERTED);
-    } else
+        if (useDshotTelemetry) {
+            bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_INVERTED);
+            break;
+        }
 #endif
-    {
         bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_NONINVERTED);
-    }
+    } while (false);
 }
 
 static void bbWrite(uint8_t motorIndex, float value)
@@ -614,11 +616,8 @@ static void bbUpdateComplete(void)
                 bbPort->inputActive = false;
                 bbSwitchToOutput(bbPort);
             }
-        } else
-#endif
-        {
-            // Nothing to do
         }
+#endif
 
         bbDMA_Cmd(bbPort, ENABLE);
     }
diff --git a/src/platform/APM32/dshot_bitbang_ddl.c b/src/platform/APM32/dshot_bitbang_ddl.c
index dc7301c491..6e2eeff13b 100644
--- a/src/platform/APM32/dshot_bitbang_ddl.c
+++ b/src/platform/APM32/dshot_bitbang_ddl.c
@@ -56,23 +56,12 @@ void bbGpioSetup(bbMotor_t *bbMotor)
     bbPort->gpioModeInput |= (DDL_GPIO_MODE_INPUT << (pinIndex * 2));
     bbPort->gpioModeOutput |= (DDL_GPIO_MODE_OUTPUT << (pinIndex * 2));
 
+    bool inverted = false;
 #ifdef USE_DSHOT_TELEMETRY
-    if (useDshotTelemetry) {
-        bbPort->gpioIdleBSRR |= (1 << pinIndex);         // BS (lower half)
-    } else
+    inverted = true;
 #endif
-    {
-        bbPort->gpioIdleBSRR |= (1 << (pinIndex + 16));  // BR (higher half)
-    }
-
-#ifdef USE_DSHOT_TELEMETRY
-    if (useDshotTelemetry) {
-        IOWrite(bbMotor->io, 1);
-    } else
-#endif
-    {
-        IOWrite(bbMotor->io, 0);
-    }
+    bbPort->gpioIdleBSRR |= (1 << pinIndex) + (inverted ? 0 : 16); // write BITSET or BITRESET half of BSRR
+    IOWrite(bbMotor->io, inverted);
 }
 
 void bbTimerChannelInit(bbPort_t *bbPort)
diff --git a/src/platform/APM32/platform_mcu.h b/src/platform/APM32/include/platform/platform.h
similarity index 98%
rename from src/platform/APM32/platform_mcu.h
rename to src/platform/APM32/include/platform/platform.h
index 10299b6d5c..368440773c 100644
--- a/src/platform/APM32/platform_mcu.h
+++ b/src/platform/APM32/include/platform/platform.h
@@ -104,8 +104,6 @@
 #define U_ID_1 (*(uint32_t*)0x1fff7a14)
 #define U_ID_2 (*(uint32_t*)0x1fff7a18)
 
-#define USE_PIN_AF
-
 #ifndef APM32F4
 #define APM32F4
 #endif
@@ -193,6 +191,11 @@
 #define PLATFORM_TRAIT_RCC 1
 #define UART_TRAIT_AF_PORT 1
 #define SERIAL_TRAIT_PIN_CONFIG 1
+#define I2C_TRAIT_AF_PIN 1
+#define I2CDEV_COUNT 3
+#define I2C_TRAIT_HANDLE 1
+
+#define SPI_TRAIT_AF_PIN 1
 
 #define UARTHARDWARE_MAX_PINS 4
 
diff --git a/src/platform/APM32/io_apm32.c b/src/platform/APM32/io_apm32.c
index d744117646..482a6b8fd8 100644
--- a/src/platform/APM32/io_apm32.c
+++ b/src/platform/APM32/io_apm32.c
@@ -23,7 +23,7 @@
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "common/utils.h"
 
diff --git a/src/platform/APM32/light_ws2811strip_apm32.c b/src/platform/APM32/light_ws2811strip_apm32.c
index 2ef5cbcb30..c2cafd8ba7 100644
--- a/src/platform/APM32/light_ws2811strip_apm32.c
+++ b/src/platform/APM32/light_ws2811strip_apm32.c
@@ -32,7 +32,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/system.h"
 #include "drivers/timer.h"
 
diff --git a/src/platform/APM32/mk/APM32F4.mk b/src/platform/APM32/mk/APM32F4.mk
index c0b9a27c91..8bdb4b6cf7 100644
--- a/src/platform/APM32/mk/APM32F4.mk
+++ b/src/platform/APM32/mk/APM32F4.mk
@@ -179,8 +179,8 @@ MCU_COMMON_SRC = \
         APM32/dma_apm32f4xx.c \
         APM32/serial_uart_apm32f4xx.c \
         drivers/adc.c \
-        drivers/bus_i2c_config.c \
         drivers/bus_spi_config.c \
+        common/stm32/bus_i2c_pinconfig.c \
         common/stm32/bus_spi_hw.c \
         common/stm32/bus_spi_pinconfig.c \
         common/stm32/serial_uart_hw.c \
@@ -217,8 +217,8 @@ SPEED_OPTIMISED_SRC += \
 SIZE_OPTIMISED_SRC += \
         APM32/usb/vcp/serial_usb_vcp.c \
         drivers/inverter.c \
-        drivers/bus_i2c_config.c \
         drivers/bus_spi_config.c \
+        common/stm32/bus_i2c_pinconfig.c \
         common/stm32/bus_spi_pinconfig.c \
         drivers/serial_escserial.c \
         drivers/serial_pinconfig.c \
diff --git a/src/platform/APM32/pwm_output_dshot_apm32.c b/src/platform/APM32/pwm_output_dshot_apm32.c
index 499897394f..57010f08e8 100644
--- a/src/platform/APM32/pwm_output_dshot_apm32.c
+++ b/src/platform/APM32/pwm_output_dshot_apm32.c
@@ -41,7 +41,7 @@
 #include "drivers/motor.h"
 #include "drivers/pwm_output.h"
 #include "pwm_output_dshot_shared.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/time.h"
 #include "drivers/timer.h"
 #include "drivers/system.h"
@@ -133,18 +133,19 @@ FAST_CODE void pwmCompleteDshotMotorUpdate(void)
     }
 
     for (int i = 0; i < dmaMotorTimerCount; i++) {
+        do {
 #ifdef USE_DSHOT_DMAR
-        if (useBurstDshot) {
-            xDDL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
-            xDDL_EX_DMA_EnableResource(dmaMotorTimers[i].dmaBurstRef);
+            if (useBurstDshot) {
+                xDDL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
+                xDDL_EX_DMA_EnableResource(dmaMotorTimers[i].dmaBurstRef);
 
-            /* configure the DMA Burst Mode */
-            DDL_TMR_ConfigDMABurst(dmaMotorTimers[i].timer, DDL_TMR_DMABURST_BASEADDR_CC1, DDL_TMR_DMABURST_LENGTH_4TRANSFERS);
-            /* Enable the TIM DMA Request */
-            DDL_TMR_EnableDMAReq_UPDATE(dmaMotorTimers[i].timer);
-        } else
+                /* configure the DMA Burst Mode */
+                DDL_TMR_ConfigDMABurst(dmaMotorTimers[i].timer, DDL_TMR_DMABURST_BASEADDR_CC1, DDL_TMR_DMABURST_LENGTH_4TRANSFERS);
+                /* Enable the TIM DMA Request */
+                DDL_TMR_EnableDMAReq_UPDATE(dmaMotorTimers[i].timer);
+                break;
+            }
 #endif
-        {
             DDL_TMR_DisableARRPreload(dmaMotorTimers[i].timer);
             dmaMotorTimers[i].timer->AUTORLD = dmaMotorTimers[i].outputPeriod;
 
@@ -153,7 +154,7 @@ FAST_CODE void pwmCompleteDshotMotorUpdate(void)
             /* Enable channel DMA requests */
             DDL_EX_TMR_EnableIT(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources);
             dmaMotorTimers[i].timerDmaSources = 0;
-        }
+        } while (false);
     }
 }
 
@@ -164,16 +165,17 @@ FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
 #ifdef USE_DSHOT_TELEMETRY
         dshotDMAHandlerCycleCounters.irqAt = getCycleCounter();
 #endif
+        do {
 #ifdef USE_DSHOT_DMAR
-        if (useBurstDshot) {
-            xDDL_EX_DMA_DisableResource(motor->timerHardware->dmaTimUPRef);
-            DDL_TMR_DisableDMAReq_UPDATE(motor->timerHardware->tim);
-        } else
+            if (useBurstDshot) {
+                xDDL_EX_DMA_DisableResource(motor->timerHardware->dmaTimUPRef);
+                DDL_TMR_DisableDMAReq_UPDATE(motor->timerHardware->tim);
+                break;
+            }
 #endif
-        {
             xDDL_EX_DMA_DisableResource(motor->dmaRef);
             DDL_EX_TMR_DisableIT(motor->timerHardware->tim, motor->timerDmaSource);
-        }
+        } while (false);
 
 #ifdef USE_DSHOT_TELEMETRY
         if (useDshotTelemetry) {
@@ -228,21 +230,22 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaRef);
 
     bool dmaIsConfigured = false;
+    do {
 #ifdef USE_DSHOT_DMAR
-    if (useBurstDshot) {
-        const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
-        if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
-            dmaIsConfigured = true;
-        } else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
-            return false;
+        if (useBurstDshot) {
+            const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
+            if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
+                dmaIsConfigured = true;
+            } else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
+                return false;
+            }
+            break;
         }
-    } else
 #endif
-    {
         if (!dmaAllocate(dmaIdentifier, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex))) {
             return false;
         }
-    }
+    } while (false);
 
     motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
     motor->dmaRef = dmaRef;
@@ -312,18 +315,19 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     }
     motor->llChannel = channel;
 
+    do {
 #ifdef USE_DSHOT_DMAR
-    if (useBurstDshot) {
-        motor->timer->dmaBurstRef = dmaRef;
+        if (useBurstDshot) {
+            motor->timer->dmaBurstRef = dmaRef;
 #ifdef USE_DSHOT_TELEMETRY
-        motor->dmaRef = dmaRef;
+            motor->dmaRef = dmaRef;
 #endif
-    } else
+            break;
+        }
 #endif
-    {
         motor->timerDmaSource = timerDmaSource(timerHardware->channel);
         motor->timer->timerDmaSources &= ~motor->timerDmaSource;
-    }
+    } while (false);
 
     if (!dmaIsConfigured) {
         xDDL_EX_DMA_DisableResource(dmaRef);
@@ -333,24 +337,25 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     }
 
     DDL_DMA_StructInit(&DMAINIT);
+    do {
 #ifdef USE_DSHOT_DMAR
-    if (useBurstDshot) {
-        motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
+        if (useBurstDshot) {
+            motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
 
-        DMAINIT.Channel = dmaChannel;
-        DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
-        DMAINIT.FIFOThreshold = DDL_DMA_FIFOTHRESHOLD_FULL;
-        DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
-    } else
+            DMAINIT.Channel = dmaChannel;
+            DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
+            DMAINIT.FIFOThreshold = DDL_DMA_FIFOTHRESHOLD_FULL;
+            DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
+            break;
+        }
 #endif
-    {
         motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
 
         DMAINIT.Channel = dmaChannel;
         DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->dmaBuffer;
         DMAINIT.FIFOThreshold = DDL_DMA_FIFOTHRESHOLD_1_4;
         DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)timerChCCR(timerHardware);
-    }
+    } while (false);
 
     DMAINIT.Direction = DDL_DMA_DIRECTION_MEMORY_TO_PERIPH;
     DMAINIT.FIFOMode = DDL_DMA_FIFOMODE_ENABLE;
@@ -380,16 +385,17 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);
 #endif
 
+    do {
 #ifdef USE_DSHOT_DMAR
-    if (useBurstDshot) {
-        if (!dmaIsConfigured) {
-            dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
+        if (useBurstDshot) {
+            if (!dmaIsConfigured) {
+                dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
+            }
+            break;
         }
-    } else
 #endif
-    {
         dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
-    }
+    } while (false);
 
     DDL_TMR_OC_Init(timer, channel, &OCINIT);
     DDL_TMR_OC_EnablePreload(timer, channel);
diff --git a/src/platform/APM32/rcm_apm32.c b/src/platform/APM32/rcm_apm32.c
index 96ecd59ac5..160dbfd723 100644
--- a/src/platform/APM32/rcm_apm32.c
+++ b/src/platform/APM32/rcm_apm32.c
@@ -20,7 +20,7 @@
  */
 
 #include "platform.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
 {
diff --git a/src/platform/APM32/serial_uart_apm32.c b/src/platform/APM32/serial_uart_apm32.c
index e676ca2f93..64ac4a3da3 100644
--- a/src/platform/APM32/serial_uart_apm32.c
+++ b/src/platform/APM32/serial_uart_apm32.c
@@ -39,7 +39,7 @@
 #include "common/utils.h"
 #include "drivers/inverter.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
@@ -82,35 +82,37 @@ void uartReconfigure(uartPort_t *uartPort)
 
     // Receive DMA or IRQ
     if (uartPort->port.mode & MODE_RX) {
+        do {
 #ifdef USE_DMA
-        if (uartPort->rxDMAResource) {
-            uartPort->rxDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->rxDMAResource;
-            uartPort->txDMAHandle.Init.Channel = uartPort->rxDMAChannel;
-            uartPort->rxDMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
-            uartPort->rxDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
-            uartPort->rxDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
-            uartPort->rxDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-            uartPort->rxDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-            uartPort->rxDMAHandle.Init.Mode = DMA_CIRCULAR;
+            if (uartPort->rxDMAResource) {
+                uartPort->rxDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->rxDMAResource;
+                uartPort->txDMAHandle.Init.Channel = uartPort->rxDMAChannel;
+                uartPort->rxDMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
+                uartPort->rxDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
+                uartPort->rxDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
+                uartPort->rxDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+                uartPort->rxDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+                uartPort->rxDMAHandle.Init.Mode = DMA_CIRCULAR;
 #if defined(APM32F4)
-            uartPort->rxDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-            uartPort->rxDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
-            uartPort->rxDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
-            uartPort->rxDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
+                uartPort->rxDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+                uartPort->rxDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
+                uartPort->rxDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
+                uartPort->rxDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
 #endif
-            uartPort->rxDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
+                uartPort->rxDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
 
-            DAL_DMA_DeInit(&uartPort->rxDMAHandle);
-            DAL_DMA_Init(&uartPort->rxDMAHandle);
-            /* Associate the initialized DMA handle to the UART handle */
-            __DAL_LINKDMA(&uartPort->Handle, hdmarx, uartPort->rxDMAHandle);
+                DAL_DMA_DeInit(&uartPort->rxDMAHandle);
+                DAL_DMA_Init(&uartPort->rxDMAHandle);
+                /* Associate the initialized DMA handle to the UART handle */
+                __DAL_LINKDMA(&uartPort->Handle, hdmarx, uartPort->rxDMAHandle);
 
-            DAL_UART_Receive_DMA(&uartPort->Handle, (uint8_t*)uartPort->port.rxBuffer, uartPort->port.rxBufferSize);
+                DAL_UART_Receive_DMA(&uartPort->Handle, (uint8_t*)uartPort->port.rxBuffer, uartPort->port.rxBufferSize);
 
-            uartPort->rxDMAPos = __DAL_DMA_GET_COUNTER(&uartPort->rxDMAHandle);
-        } else
+                uartPort->rxDMAPos = __DAL_DMA_GET_COUNTER(&uartPort->rxDMAHandle);
+                break;
+            }
 #endif
-        {
+
             /* Enable the UART Parity Error Interrupt */
             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_PEIEN);
 
@@ -122,44 +124,44 @@ void uartReconfigure(uartPort_t *uartPort)
 
             /* Enable Idle Line detection */
             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_IDLEIEN);
-        }
+        } while(false);
     }
 
     // Transmit DMA or IRQ
     if (uartPort->port.mode & MODE_TX) {
+        do {
 #ifdef USE_DMA
-        if (uartPort->txDMAResource) {
-            uartPort->txDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->txDMAResource;
-            uartPort->txDMAHandle.Init.Channel = uartPort->txDMAChannel;
-            uartPort->txDMAHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
-            uartPort->txDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
-            uartPort->txDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
-            uartPort->txDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-            uartPort->txDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-            uartPort->txDMAHandle.Init.Mode = DMA_NORMAL;
-            uartPort->txDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-            uartPort->txDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
-            uartPort->txDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
-            uartPort->txDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
-            uartPort->txDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
+            if (uartPort->txDMAResource) {
+                uartPort->txDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->txDMAResource;
+                uartPort->txDMAHandle.Init.Channel = uartPort->txDMAChannel;
+                uartPort->txDMAHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
+                uartPort->txDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
+                uartPort->txDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
+                uartPort->txDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+                uartPort->txDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+                uartPort->txDMAHandle.Init.Mode = DMA_NORMAL;
+                uartPort->txDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+                uartPort->txDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
+                uartPort->txDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
+                uartPort->txDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
+                uartPort->txDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
 
-            DAL_DMA_DeInit(&uartPort->txDMAHandle);
-            DAL_StatusTypeDef status = DAL_DMA_Init(&uartPort->txDMAHandle);
-            if (status != DAL_OK) {
-                while (1);
+                DAL_DMA_DeInit(&uartPort->txDMAHandle);
+                DAL_StatusTypeDef status = DAL_DMA_Init(&uartPort->txDMAHandle);
+                if (status != DAL_OK) {
+                    while (1);
+                }
+                /* Associate the initialized DMA handle to the UART handle */
+                __DAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle);
+
+                __DAL_DMA_SET_COUNTER(&uartPort->txDMAHandle, 0);
+                break;
             }
-            /* Associate the initialized DMA handle to the UART handle */
-            __DAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle);
-
-            __DAL_DMA_SET_COUNTER(&uartPort->txDMAHandle, 0);
-        } else
 #endif
-        {
-
             /* Enable the UART Transmit Data Register Empty Interrupt */
             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXBEIEN);
             SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXCIEN);
-        }
+        } while(false);
     }
 }
 
diff --git a/src/platform/APM32/serial_uart_apm32f4xx.c b/src/platform/APM32/serial_uart_apm32f4xx.c
index 2c5151b62f..2df52a9ffd 100644
--- a/src/platform/APM32/serial_uart_apm32f4xx.c
+++ b/src/platform/APM32/serial_uart_apm32f4xx.c
@@ -36,7 +36,7 @@
 #include "drivers/io.h"
 #include "drivers/dma.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
@@ -269,10 +269,12 @@ void uartDmaIrqHandler(dmaChannelDescriptor_t* descriptor)
         }
         handleUsartTxDma(s);
     }
+
     if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TEIF))
     {
         DMA_CLEAR_FLAG(descriptor, DMA_IT_TEIF);
     }
+
     if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_DMEIF))
     {
         DMA_CLEAR_FLAG(descriptor, DMA_IT_DMEIF);
diff --git a/src/platform/APM32/system_apm32f4xx.c b/src/platform/APM32/system_apm32f4xx.c
index 0bf5b42231..75945bd924 100644
--- a/src/platform/APM32/system_apm32f4xx.c
+++ b/src/platform/APM32/system_apm32f4xx.c
@@ -121,10 +121,11 @@ void enableGPIOPowerUsageAndNoiseReductions(void)
 
 bool isMPUSoftReset(void)
 {
-    if (cachedRccCsrValue & RCM_CSTS_SWRSTFLG)
+    if (cachedRccCsrValue & RCM_CSTS_SWRSTFLG) {
         return true;
-    else
+    } else {
         return false;
+    }
 }
 
 void systemInit(void)
diff --git a/src/platform/APM32/timer_apm32.c b/src/platform/APM32/timer_apm32.c
index 12ef8f197b..710ebc509a 100644
--- a/src/platform/APM32/timer_apm32.c
+++ b/src/platform/APM32/timer_apm32.c
@@ -37,7 +37,7 @@
 #include "drivers/io.h"
 #include "drivers/dma.h"
 
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/timer.h"
 #include "drivers/timer_impl.h"
@@ -340,7 +340,9 @@ TMR_HandleTypeDef* timerFindTimerHandle(TMR_TypeDef *tim)
 void timerReconfigureTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
 {
     TMR_HandleTypeDef* handle = timerFindTimerHandle(tim);
-    if (handle == NULL) return;
+    if (handle == NULL) {
+        return;
+    }
 
     handle->Init.Period = (period - 1) & 0xffff; // AKA TIMx_ARR
     handle->Init.Prescaler = (timerClock(tim) / hz) - 1;
@@ -351,7 +353,9 @@ void timerReconfigureTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
 void configTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
 {
     TMR_HandleTypeDef* handle = timerFindTimerHandle(tim);
-    if (handle == NULL) return;
+    if (handle == NULL) {
+        return;
+    }
 
     if (handle->Instance == tim) {
         // already configured
@@ -368,8 +372,7 @@ void configTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
     handle->Init.RepetitionCounter = 0x0000;
 
     DAL_TMR_Base_Init(handle);
-    if (tim == TMR1 || tim == TMR2 || tim == TMR3 || tim == TMR4 || tim == TMR5 || tim == TMR8 || tim == TMR9)
-    {
+    if (tim == TMR1 || tim == TMR2 || tim == TMR3 || tim == TMR4 || tim == TMR5 || tim == TMR8 || tim == TMR9) {
         TMR_ClockConfigTypeDef sClockSourceConfig;
         memset(&sClockSourceConfig, 0, sizeof(sClockSourceConfig));
         sClockSourceConfig.ClockSource = TMR_CLOCKSOURCE_INTERNAL;
@@ -402,7 +405,6 @@ void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, ui
     timerNVICConfigure(irq);
     // HACK - enable second IRQ on timers that need it
     switch (irq) {
-
     case TMR1_CC_IRQn:
         timerNVICConfigure(TMR1_UP_TMR10_IRQn);
         break;
@@ -421,13 +423,16 @@ void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriori
         return;
     }
     unsigned channel = timHw - TIMER_HARDWARE;
-    if (channel >= TIMER_CHANNEL_COUNT)
+    if (channel >= TIMER_CHANNEL_COUNT) {
         return;
+    }
 
     timerChannelInfo[channel].type = type;
     unsigned timer = lookupTimerIndex(timHw->tim);
-    if (timer >= USED_TIMER_COUNT)
+    if (timer >= USED_TIMER_COUNT) {
         return;
+    }
+
     if (irqPriority < timerInfo[timer].priority) {
         // it would be better to set priority in the end, but current startup sequence is not ready
         configTimeBase(usedTimers[timer], 0, 1);
@@ -476,10 +481,11 @@ static void timerChConfig_UpdateOverflow(timerConfig_t *cfg, const TMR_TypeDef *
         *chain = NULL;
     }
     // enable or disable IRQ
-    if (cfg->overflowCallbackActive)
+    if (cfg->overflowCallbackActive) {
         __DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TMR_IT_UPDATE);
-    else
+    } else {
         __DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TMR_IT_UPDATE);
+    }
 }
 
 // config edge and overflow callback for channel. Try to avoid overflowCallback, it is a bit expensive
@@ -490,14 +496,17 @@ void timerChConfigCallbacks(const timerHardware_t *timHw, timerCCHandlerRec_t *e
         return;
     }
     uint8_t channelIndex = lookupChannelIndex(timHw->channel);
-    if (edgeCallback == NULL)   // disable irq before changing callback to NULL
+    if (edgeCallback == NULL) {   // disable irq before changing callback to NULL
         __DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
+    }
+
     // setup callback info
     timerConfig[timerIndex].edgeCallback[channelIndex] = edgeCallback;
     timerConfig[timerIndex].overflowCallback[channelIndex] = overflowCallback;
     // enable channel IRQ
-    if (edgeCallback)
+    if (edgeCallback) {
         __DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
+    }
 
     timerChConfig_UpdateOverflow(&timerConfig[timerIndex], timHw->tim);
 }
@@ -525,10 +534,13 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_
     uint16_t chHi = timHw->channel | TMR_CHANNEL_2;    // upper channel
     uint8_t channelIndex = lookupChannelIndex(chLo);   // get index of lower channel
 
-    if (edgeCallbackLo == NULL)   // disable irq before changing setting callback to NULL
+    if (edgeCallbackLo == NULL) {  // disable irq before changing setting callback to NULL
         __DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo));
-    if (edgeCallbackHi == NULL)   // disable irq before changing setting callback to NULL
+    }
+
+    if (edgeCallbackHi == NULL) {   // disable irq before changing setting callback to NULL
         __DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi));
+    }
 
     // setup callback info
     timerConfig[timerIndex].edgeCallback[channelIndex] = edgeCallbackLo;
@@ -541,6 +553,7 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_
         __DAL_TMR_CLEAR_FLAG(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo));
         __DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo));
     }
+
     if (edgeCallbackHi) {
         __DAL_TMR_CLEAR_FLAG(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi));
         __DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi));
@@ -561,10 +574,11 @@ void timerChITConfigDualLo(const timerHardware_t *timHw, FunctionalState newStat
         return;
     }
 
-    if (newState)
+    if (newState) {
         __DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel & ~TMR_CHANNEL_2));
-    else
+    } else {
         __DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel & ~TMR_CHANNEL_2));
+    }
 }
 
 //// enable or disable IRQ
@@ -580,10 +594,11 @@ void timerChITConfig(const timerHardware_t *timHw, FunctionalState newState)
         return;
     }
 
-    if (newState)
+    if (newState) {
         __DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
-    else
+    } else {
         __DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
+    }
 }
 
 // clear Compare/Capture flag for channel
@@ -623,9 +638,11 @@ static unsigned getFilter(unsigned ticks)
         16*5, 16*6, 16*8,
         32*5, 32*6, 32*8
     };
-    for (unsigned i = 1; i < ARRAYLEN(ftab); i++)
-        if (ftab[i] > ticks)
+    for (unsigned i = 1; i < ARRAYLEN(ftab); i++) {
+        if (ftab[i] > ticks) {
             return i - 1;
+        }
+    }
     return 0x0f;
 }
 
@@ -633,8 +650,9 @@ static unsigned getFilter(unsigned ticks)
 void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterTicks)
 {
     unsigned timer = lookupTimerIndex(timHw->tim);
-    if (timer >= USED_TIMER_COUNT)
+    if (timer >= USED_TIMER_COUNT) {
         return;
+    }
 
     TMR_IC_InitTypeDef TIM_ICInitStructure;
 
@@ -650,8 +668,9 @@ void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned
 void timerChConfigICDual(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterTicks)
 {
     unsigned timer = lookupTimerIndex(timHw->tim);
-    if (timer >= USED_TIMER_COUNT)
+    if (timer >= USED_TIMER_COUNT) {
         return;
+    }
 
     TMR_IC_InitTypeDef TIM_ICInitStructure;
     bool directRising = (timHw->channel & TMR_CHANNEL_2) ? !polarityRising : polarityRising;
@@ -695,8 +714,9 @@ volatile timCCR_t* timerChCCR(const timerHardware_t *timHw)
 void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHigh)
 {
     unsigned timer = lookupTimerIndex(timHw->tim);
-    if (timer >= USED_TIMER_COUNT)
+    if (timer >= USED_TIMER_COUNT) {
         return;
+    }
 
     TMR_OC_InitTypeDef TIM_OCInitStructure;
 
@@ -1000,7 +1020,9 @@ void timerInit(void)
 void timerStart(TMR_TypeDef *tim)
 {
     TMR_HandleTypeDef* handle = timerFindTimerHandle(tim);
-    if (handle == NULL) return;
+    if (handle == NULL) {
+        return;
+    }
 
     __DAL_TMR_ENABLE(handle);
 }
@@ -1135,13 +1157,16 @@ DAL_StatusTypeDef DMA_SetCurrDataCounter(TMR_HandleTypeDef *htim, uint32_t Chann
 {
     if ((htim->State == DAL_TMR_STATE_BUSY)) {
         return DAL_BUSY;
-    } else if ((htim->State == DAL_TMR_STATE_READY)) {
-        if (((uint32_t) pData == 0) && (Length > 0)) {
-            return DAL_ERROR;
-        } else {
-            htim->State = DAL_TMR_STATE_BUSY;
+    } else {
+        if ((htim->State == DAL_TMR_STATE_READY)) {
+            if (((uint32_t) pData == 0) && (Length > 0)) {
+                return DAL_ERROR;
+            } else {
+                htim->State = DAL_TMR_STATE_BUSY;
+            }
         }
     }
+
     switch (Channel) {
     case TMR_CHANNEL_1: {
         /* Set the DMA Period elapsed callback */
diff --git a/src/platform/APM32/timer_apm32f4xx.c b/src/platform/APM32/timer_apm32f4xx.c
index 708e6f3e29..e67e450306 100644
--- a/src/platform/APM32/timer_apm32f4xx.c
+++ b/src/platform/APM32/timer_apm32f4xx.c
@@ -30,7 +30,7 @@
 #include "timer_def.h"
 
 #include "apm32f4xx.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
diff --git a/src/platform/APM32/transponder_ir_io_apm32.c b/src/platform/APM32/transponder_ir_io_apm32.c
index 799ccb8494..29a6786a80 100644
--- a/src/platform/APM32/transponder_ir_io_apm32.c
+++ b/src/platform/APM32/transponder_ir_io_apm32.c
@@ -31,7 +31,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 #include "drivers/transponder_ir_arcitimer.h"
 #include "drivers/transponder_ir_erlt.h"
@@ -165,6 +165,7 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
         /* Configuration Error */
         return;
     }
+
     if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
         if (DAL_TMREx_PWMN_Start(&TmrHandle, timerChannel) != DAL_OK) {
             /* Starting PWM generation Error */
diff --git a/src/platform/AT32/adc_at32f43x.c b/src/platform/AT32/adc_at32f43x.c
index 31b6a45b55..13e13b3c5e 100644
--- a/src/platform/AT32/adc_at32f43x.c
+++ b/src/platform/AT32/adc_at32f43x.c
@@ -54,7 +54,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 #include "drivers/dma.h"
 
diff --git a/src/platform/AT32/bus_i2c_atbsp.c b/src/platform/AT32/bus_i2c_atbsp.c
index daa9f4bc9a..1ddef8d7a0 100644
--- a/src/platform/AT32/bus_i2c_atbsp.c
+++ b/src/platform/AT32/bus_i2c_atbsp.c
@@ -31,7 +31,7 @@
 #include "drivers/io_impl.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
diff --git a/src/platform/AT32/bus_i2c_atbsp_init.c b/src/platform/AT32/bus_i2c_atbsp_init.c
index 0d3d4c2542..0e3c6aa740 100644
--- a/src/platform/AT32/bus_i2c_atbsp_init.c
+++ b/src/platform/AT32/bus_i2c_atbsp_init.c
@@ -30,7 +30,7 @@
 #include "drivers/io.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
diff --git a/src/platform/AT32/bus_spi_at32bsp.c b/src/platform/AT32/bus_spi_at32bsp.c
index 4182e195f1..fed36d685e 100644
--- a/src/platform/AT32/bus_spi_at32bsp.c
+++ b/src/platform/AT32/bus_spi_at32bsp.c
@@ -35,7 +35,7 @@
 #include "drivers/bus_spi_impl.h"
 #include "drivers/exti.h"
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 // Use DMA if possible if this many bytes are to be transferred
 #define SPI_DMA_THRESHOLD 8
diff --git a/src/platform/AT32/camera_control_at32.c b/src/platform/AT32/camera_control_at32.c
index 12a69d18ca..05f8ef7b98 100644
--- a/src/platform/AT32/camera_control_at32.c
+++ b/src/platform/AT32/camera_control_at32.c
@@ -28,7 +28,7 @@
 #include "drivers/camera_control_impl.h"
 #include "drivers/nvic.h"
 #include "drivers/pwm_output.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
 #include "build/atomic.h"
diff --git a/src/platform/AT32/dma_at32f43x.c b/src/platform/AT32/dma_at32f43x.c
index e233713a42..94710fb68d 100644
--- a/src/platform/AT32/dma_at32f43x.c
+++ b/src/platform/AT32/dma_at32f43x.c
@@ -29,7 +29,7 @@
 
 #include "drivers/nvic.h"
 #include "drivers/dma.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 
 /*
diff --git a/src/platform/AT32/platform_mcu.h b/src/platform/AT32/include/platform/platform.h
similarity index 95%
rename from src/platform/AT32/platform_mcu.h
rename to src/platform/AT32/include/platform/platform.h
index 2c55895061..7e0a352450 100644
--- a/src/platform/AT32/platform_mcu.h
+++ b/src/platform/AT32/include/platform/platform.h
@@ -57,8 +57,6 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define U_ID_1 (*(uint32_t*)0x1ffff7ec)
 #define U_ID_2 (*(uint32_t*)0x1ffff7f0)
 
-#define USE_PIN_AF
-
 #ifndef AT32F4
 #define AT32F4
 #endif
@@ -144,12 +142,15 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define UART_TX_BUFFER_ATTRIBUTE                    // NONE
 #define UART_RX_BUFFER_ATTRIBUTE                    // NONE
 
-#define PLATFORM_TRAIT_RCC 1
-#define UART_TRAIT_AF_PIN  1
-#define UART_TRAIT_PINSWAP 1
+#define PLATFORM_TRAIT_RCC      1
+#define UART_TRAIT_AF_PIN       1
+#define UART_TRAIT_PINSWAP      1
 #define SERIAL_TRAIT_PIN_CONFIG 1
-
-#define UARTHARDWARE_MAX_PINS 5
+#define I2C_TRAIT_AF_PIN        1
+#define I2CDEV_COUNT            4
+#define I2C_TRAIT_HANDLE        1
+#define SPI_TRAIT_AF_PIN        1
+#define UARTHARDWARE_MAX_PINS   5
 
 #define UART_REG_RXD(base) ((base)->dt)
 #define UART_REG_TXD(base) ((base)->dt)
diff --git a/src/platform/AT32/io_at32.c b/src/platform/AT32/io_at32.c
index 5905f4055f..b5759f99f7 100644
--- a/src/platform/AT32/io_at32.c
+++ b/src/platform/AT32/io_at32.c
@@ -23,7 +23,7 @@
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "common/utils.h"
 
diff --git a/src/platform/AT32/light_ws2811strip_at32f43x.c b/src/platform/AT32/light_ws2811strip_at32f43x.c
index 1827556d30..e4afd9f202 100644
--- a/src/platform/AT32/light_ws2811strip_at32f43x.c
+++ b/src/platform/AT32/light_ws2811strip_at32f43x.c
@@ -35,7 +35,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 #include "drivers/light_ws2811strip.h"
diff --git a/src/platform/AT32/mk/AT32F4.mk b/src/platform/AT32/mk/AT32F4.mk
index ec377078aa..f78c4671c9 100644
--- a/src/platform/AT32/mk/AT32F4.mk
+++ b/src/platform/AT32/mk/AT32F4.mk
@@ -121,8 +121,8 @@ MCU_COMMON_SRC = \
             drivers/bus_i2c_timing.c \
             drivers/usb_msc_common.c \
             drivers/adc.c \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_pinconfig.c \
             common/stm32/bus_spi_pinconfig.c \
             common/stm32/bus_spi_hw.c \
             common/stm32/serial_uart_hw.c \
@@ -144,8 +144,8 @@ SPEED_OPTIMISED_SRC += \
 SIZE_OPTIMISED_SRC += \
             drivers/bus_i2c_timing.c \
             drivers/inverter.c \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_pinconfig.c \
             common/stm32/bus_spi_pinconfig.c \
             drivers/serial_escserial.c \
             drivers/serial_pinconfig.c \
diff --git a/src/platform/AT32/pwm_output_dshot.c b/src/platform/AT32/pwm_output_dshot.c
index 2d4722da04..eff7db614e 100644
--- a/src/platform/AT32/pwm_output_dshot.c
+++ b/src/platform/AT32/pwm_output_dshot.c
@@ -33,7 +33,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/time.h"
 #include "drivers/timer.h"
 #include "drivers/system.h"
diff --git a/src/platform/AT32/rcc_at32.c b/src/platform/AT32/rcc_at32.c
index d3b2d1a4f1..87f8030d4d 100644
--- a/src/platform/AT32/rcc_at32.c
+++ b/src/platform/AT32/rcc_at32.c
@@ -23,7 +23,7 @@
  */
 
 #include "platform.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
 {
diff --git a/src/platform/AT32/serial_uart_at32bsp.c b/src/platform/AT32/serial_uart_at32bsp.c
index 0875364108..1752de4f71 100644
--- a/src/platform/AT32/serial_uart_at32bsp.c
+++ b/src/platform/AT32/serial_uart_at32bsp.c
@@ -41,7 +41,7 @@
 #include "common/utils.h"
 #include "drivers/inverter.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/dma.h"
 
diff --git a/src/platform/AT32/serial_uart_at32f43x.c b/src/platform/AT32/serial_uart_at32f43x.c
index 61733f5266..13f85194fd 100644
--- a/src/platform/AT32/serial_uart_at32f43x.c
+++ b/src/platform/AT32/serial_uart_at32f43x.c
@@ -31,7 +31,7 @@
 #include "drivers/dma.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
diff --git a/src/platform/AT32/timer_at32bsp.c b/src/platform/AT32/timer_at32bsp.c
index 6336ad1a2a..a6da1cb51c 100644
--- a/src/platform/AT32/timer_at32bsp.c
+++ b/src/platform/AT32/timer_at32bsp.c
@@ -35,7 +35,7 @@
 #include "drivers/nvic.h"
 
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/system.h"
 #include "drivers/timer.h"
 #include "drivers/timer_impl.h"
diff --git a/src/platform/AT32/timer_at32f43x.c b/src/platform/AT32/timer_at32f43x.c
index 13c4b99b87..e2e8ecc8d4 100644
--- a/src/platform/AT32/timer_at32f43x.c
+++ b/src/platform/AT32/timer_at32f43x.c
@@ -28,7 +28,7 @@
 #include "timer_def.h"
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
diff --git a/src/platform/PICO/link/pico_rp2350.ld b/src/platform/PICO/link/pico_rp2350.ld
deleted file mode 100644
index c8f3dd7c79..0000000000
--- a/src/platform/PICO/link/pico_rp2350.ld
+++ /dev/null
@@ -1,302 +0,0 @@
-/* Based on GCC ARM embedded samples.
-   Defines the following symbols for use by code:
-    __exidx_start
-    __exidx_end
-    __etext
-    __data_start__
-    __preinit_array_start
-    __preinit_array_end
-    __init_array_start
-    __init_array_end
-    __fini_array_start
-    __fini_array_end
-    __data_end__
-    __bss_start__
-    __bss_end__
-    __end__
-    end
-    __HeapLimit
-    __StackLimit
-    __StackTop
-    __stack (== StackTop)
-*/
-
-MEMORY
-{
-    FLASH(rx) : ORIGIN = 0x10000000, LENGTH = 4m
-    RAM(rwx) : ORIGIN =  0x20000000, LENGTH = 512k
-    SCRATCH_X(rwx) : ORIGIN = 0x20080000, LENGTH = 4k
-    SCRATCH_Y(rwx) : ORIGIN = 0x20081000, LENGTH = 4k
-}
-
-ENTRY(_entry_point)
-
-SECTIONS
-{
-    .flash_begin : {
-        __flash_binary_start = .;
-    } > FLASH
-
-    /* The bootrom will enter the image at the point indicated in your
-       IMAGE_DEF, which is usually the reset handler of your vector table.
-
-       The debugger will use the ELF entry point, which is the _entry_point
-       symbol, and in our case is *different from the bootrom's entry point.*
-       This is used to go back through the bootrom on debugger launches only,
-       to perform the same initial flash setup that would be performed on a
-       cold boot.
-    */
-
-    .text : {
-        __logical_binary_start = .;
-        KEEP (*(.vectors))
-        KEEP (*(.binary_info_header))
-        __binary_info_header_end = .;
-        KEEP (*(.embedded_block))
-        __embedded_block_end = .;
-        KEEP (*(.reset))
-        /* TODO revisit this now memset/memcpy/float in ROM */
-        /* bit of a hack right now to exclude all floating point and time critical (e.g. memset, memcpy) code from
-         * FLASH ... we will include any thing excluded here in .data below by default */
-        *(.init)
-        *libgcc.a:cmse_nonsecure_call.o
-        *(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a:) .text*)
-        *(.fini)
-        /* Pull all c'tors into .text */
-        *crtbegin.o(.ctors)
-        *crtbegin?.o(.ctors)
-        *(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
-        *(SORT(.ctors.*))
-        *(.ctors)
-        /* Followed by destructors */
-        *crtbegin.o(.dtors)
-        *crtbegin?.o(.dtors)
-        *(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
-        *(SORT(.dtors.*))
-        *(.dtors)
-
-        . = ALIGN(4);
-        /* preinit data */
-        PROVIDE_HIDDEN (__preinit_array_start = .);
-        KEEP(*(SORT(.preinit_array.*)))
-        KEEP(*(.preinit_array))
-        PROVIDE_HIDDEN (__preinit_array_end = .);
-
-        . = ALIGN(4);
-        /* init data */
-        PROVIDE_HIDDEN (__init_array_start = .);
-        KEEP(*(SORT(.init_array.*)))
-        KEEP(*(.init_array))
-        PROVIDE_HIDDEN (__init_array_end = .);
-
-        . = ALIGN(4);
-        /* finit data */
-        PROVIDE_HIDDEN (__fini_array_start = .);
-        *(SORT(.fini_array.*))
-        *(.fini_array)
-        PROVIDE_HIDDEN (__fini_array_end = .);
-
-        *(.eh_frame*)
-        . = ALIGN(4);
-    } > FLASH
-
-    /* Note the boot2 section is optional, and should be discarded if there is
-       no reference to it *inside* the binary, as it is not called by the
-       bootrom. (The bootrom performs a simple best-effort XIP setup and
-       leaves it to the binary to do anything more sophisticated.) However
-       there is still a size limit of 256 bytes, to ensure the boot2 can be
-       stored in boot RAM.
-
-       Really this is a "XIP setup function" -- the name boot2 is historic and
-       refers to its dual-purpose on RP2040, where it also handled vectoring
-       from the bootrom into the user image.
-    */
-
-    .boot2 : {
-        __boot2_start__ = .;
-        *(.boot2)
-        __boot2_end__ = .;
-    } > FLASH
-
-    ASSERT(__boot2_end__ - __boot2_start__ <= 256,
-        "ERROR: Pico second stage bootloader must be no more than 256 bytes in size")
-
-    .rodata : {
-        *(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a:) .rodata*)
-        *(.srodata*)
-        . = ALIGN(4);
-        *(SORT_BY_ALIGNMENT(SORT_BY_NAME(.flashdata*)))
-        . = ALIGN(4);
-    } > FLASH
-
-    .ARM.extab :
-    {
-        *(.ARM.extab* .gnu.linkonce.armextab.*)
-    } > FLASH
-
-    __exidx_start = .;
-    .ARM.exidx :
-    {
-        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
-    } > FLASH
-    __exidx_end = .;
-
-    /* Machine inspectable binary information */
-    . = ALIGN(4);
-    __binary_info_start = .;
-    .binary_info :
-    {
-        KEEP(*(.binary_info.keep.*))
-        *(.binary_info.*)
-    } > FLASH
-    __binary_info_end = .;
-    . = ALIGN(4);
-
-    .ram_vector_table (NOLOAD): {
-        *(.ram_vector_table)
-    } > RAM
-
-    .uninitialized_data (NOLOAD): {
-        . = ALIGN(4);
-        *(.uninitialized_data*)
-    } > RAM
-
-    .data : {
-        __data_start__ = .;
-        *(vtable)
-
-        *(.time_critical*)
-
-        /* remaining .text and .rodata; i.e. stuff we exclude above because we want it in RAM */
-        *(.text*)
-        . = ALIGN(4);
-        *(.rodata*)
-        . = ALIGN(4);
-
-        *(.data*)
-        *(.sdata*)
-
-        . = ALIGN(4);
-        *(.after_data.*)
-        . = ALIGN(4);
-        /* preinit data */
-        PROVIDE_HIDDEN (__mutex_array_start = .);
-        KEEP(*(SORT(.mutex_array.*)))
-        KEEP(*(.mutex_array))
-        PROVIDE_HIDDEN (__mutex_array_end = .);
-
-        *(.jcr)
-        . = ALIGN(4);
-    } > RAM AT> FLASH
-
-    .tdata : {
-        . = ALIGN(4);
-		*(.tdata .tdata.* .gnu.linkonce.td.*)
-        /* All data end */
-        __tdata_end = .;
-    } > RAM AT> FLASH
-    PROVIDE(__data_end__ = .);
-
-    /* __etext is (for backwards compatibility) the name of the .data init source pointer (...) */
-    __etext = LOADADDR(.data);
-
-    .tbss (NOLOAD) : {
-        . = ALIGN(4);
-        __bss_start__ = .;
-        __tls_base = .;
-        *(.tbss .tbss.* .gnu.linkonce.tb.*)
-        *(.tcommon)
-
-        __tls_end = .;
-    } > RAM
-
-    .bss (NOLOAD) : {
-        . = ALIGN(4);
-        __tbss_end = .;
-
-        *(SORT_BY_ALIGNMENT(SORT_BY_NAME(.bss*)))
-        *(COMMON)
-        PROVIDE(__global_pointer$ = . + 2K);
-        *(.sbss*)
-        . = ALIGN(4);
-        __bss_end__ = .;
-    } > RAM
-
-    .heap (NOLOAD):
-    {
-        __end__ = .;
-        end = __end__;
-        KEEP(*(.heap*))
-    } > RAM
-    /* historically on GCC sbrk was growing past __HeapLimit to __StackLimit, however
-       to be more compatible, we now set __HeapLimit explicitly to where the end of the heap is */
-    __HeapLimit = ORIGIN(RAM) + LENGTH(RAM);
-
-    /* Start and end symbols must be word-aligned */
-    .scratch_x : {
-        __scratch_x_start__ = .;
-        *(.scratch_x.*)
-        . = ALIGN(4);
-        __scratch_x_end__ = .;
-    } > SCRATCH_X AT > FLASH
-    __scratch_x_source__ = LOADADDR(.scratch_x);
-
-    .scratch_y : {
-        __scratch_y_start__ = .;
-        *(.scratch_y.*)
-        . = ALIGN(4);
-        __scratch_y_end__ = .;
-    } > SCRATCH_Y AT > FLASH
-    __scratch_y_source__ = LOADADDR(.scratch_y);
-
-    /* .stack*_dummy section doesn't contains any symbols. It is only
-     * used for linker to calculate size of stack sections, and assign
-     * values to stack symbols later
-     *
-     * stack1 section may be empty/missing if platform_launch_core1 is not used */
-
-    /* by default we put core 0 stack at the end of scratch Y, so that if core 1
-     * stack is not used then all of SCRATCH_X is free.
-     */
-    .stack1_dummy (NOLOAD):
-    {
-        *(.stack1*)
-    } > SCRATCH_X
-    .stack_dummy (NOLOAD):
-    {
-        KEEP(*(.stack*))
-    } > SCRATCH_Y
-
-    .flash_end : {
-        KEEP(*(.embedded_end_block*))
-        PROVIDE(__flash_binary_end = .);
-    } > FLASH =0xaa
-
-    /* stack limit is poorly named, but historically is maximum heap ptr */
-    __StackLimit = ORIGIN(RAM) + LENGTH(RAM);
-    __StackOneTop = ORIGIN(SCRATCH_X) + LENGTH(SCRATCH_X);
-    __StackTop = ORIGIN(SCRATCH_Y) + LENGTH(SCRATCH_Y);
-    __StackOneBottom = __StackOneTop - SIZEOF(.stack1_dummy);
-    __StackBottom = __StackTop - SIZEOF(.stack_dummy);
-    PROVIDE(__stack = __StackTop);
-
-    /* picolibc and LLVM */
-    PROVIDE (__heap_start = __end__);
-    PROVIDE (__heap_end = __HeapLimit);
-    PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) );
-    PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1));
-    PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) );
-
-    /* llvm-libc */
-    PROVIDE (_end = __end__);
-    PROVIDE (__llvm_libc_heap_limit = __HeapLimit);
-
-    /* Check if data + heap + stack exceeds RAM limit */
-    ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed")
-
-    ASSERT( __binary_info_header_end - __logical_binary_start <= 1024, "Binary info must be in first 1024 bytes of the binary")
-    ASSERT( __embedded_block_end - __logical_binary_start <= 4096, "Embedded block must be in first 4096 bytes of the binary")
-
-    /* todo assert on extra code */
-}
-
diff --git a/src/platform/PICO/mk/PICO.mk b/src/platform/PICO/mk/PICO.mk
deleted file mode 100644
index 699ee8f0fe..0000000000
--- a/src/platform/PICO/mk/PICO.mk
+++ /dev/null
@@ -1,158 +0,0 @@
-#
-# Raspberry PICO Make file include
-#
-
-ifeq ($(DEBUG_HARDFAULTS),PICO)
-CFLAGS          += -DDEBUG_HARDFAULTS
-endif
-
-SDK_DIR         = $(LIB_MAIN_DIR)/pico-sdk
-
-#CMSIS
-CMSIS_DIR      := $(SDK_DIR)/rp2_common/cmsis/stub/CMSIS
-
-#STDPERIPH
-STDPERIPH_DIR   = $(SDK_SIR)
-STDPERIPH_SRC   = \
-
-
-VPATH := $(VPATH):$(STDPERIPH_DIR)
-
-DEVICE_STDPERIPH_SRC := \
-            $(STDPERIPH_SRC) \
-            $(USBCORE_SRC) \
-            $(USBCDC_SRC) \
-            $(USBHID_SRC) \
-            $(USBMSC_SRC)
-
-#CMSIS
-VPATH           := $(VPATH):$(CMSIS_DIR)/Core/Include:$(CMSIS_DIR)/Device/$(TARGET_MCU)/Include
-CMSIS_SRC       :=
-
-#SRC
-VPATH           := $(VPATH):$(STDPERIPH_DIR)
-
-INCLUDE_DIRS    := \
-            $(INCLUDE_DIRS) \
-            $(TARGET_PLATFORM_DIR) \
-            $(TARGET_PLATFORM_DIR)/startup \
-            $(SDK_DIR)/$(TARGET_MCU)/pico_platform/include \
-            $(SDK_DIR)/$(TARGET_MCU)/hardware_regs/include \
-            $(SDK_DIR)/$(TARGET_MCU)/hardware_structs/include \
-            $(SDK_DIR)/common/pico_bit_ops_headers/include \
-            $(SDK_DIR)/common/pico_base_headers/include \
-            $(SDK_DIR)/common/boot_picoboot_headers/include \
-            $(SDK_DIR)/common/pico_usb_reset_interface_headers/include \
-            $(SDK_DIR)/common/pico_time/include \
-            $(SDK_DIR)/common/boot_uf2_headers/include \
-            $(SDK_DIR)/common/pico_divider_headers/include \
-            $(SDK_DIR)/common/boot_picobin_headers/include \
-            $(SDK_DIR)/common/pico_util/include \
-            $(SDK_DIR)/common/pico_stdlib_headers/include \
-            $(SDK_DIR)/common/hardware_claim/include \
-            $(SDK_DIR)/common/pico_binary_info/include \
-            $(SDK_DIR)/common/pico_sync/include \
-            $(SDK_DIR)/rp2_common/pico_stdio_uart/include \
-            $(SDK_DIR)/rp2_common/pico_stdio_usb/include \
-            $(SDK_DIR)/rp2_common/pico_stdio_rtt/include \
-            $(SDK_DIR)/rp2_common/tinyusb/include \
-            $(SDK_DIR)/rp2_common/hardware_rtc/include \
-            $(SDK_DIR)/rp2_common/hardware_boot_lock/include \
-            $(SDK_DIR)/rp2_common/pico_mem_ops/include \
-            $(SDK_DIR)/rp2_common/hardware_exception/include \
-            $(SDK_DIR)/rp2_common/hardware_sync_spin_lock/include \
-            $(SDK_DIR)/rp2_common/pico_runtime_init/include \
-            $(SDK_DIR)/rp2_common/pico_standard_link/include \
-            $(SDK_DIR)/rp2_common/hardware_pio/include \
-            $(SDK_DIR)/rp2_common/pico_platform_compiler/include \
-            $(SDK_DIR)/rp2_common/hardware_divider/include \
-            $(SDK_DIR)/rp2_common/pico_bootsel_via_double_reset/include \
-            $(SDK_DIR)/rp2_common/hardware_powman/include \
-            $(SDK_DIR)/rp2_common/pico_btstack/include \
-            $(SDK_DIR)/rp2_common/pico_cyw43_driver/include \
-            $(SDK_DIR)/rp2_common/hardware_flash/include \
-            $(SDK_DIR)/rp2_common/hardware_ticks/include \
-            $(SDK_DIR)/rp2_common/hardware_dma/include \
-            $(SDK_DIR)/rp2_common/pico_bit_ops/include \
-            $(SDK_DIR)/rp2_common/hardware_clocks/include \
-            $(SDK_DIR)/rp2_common/pico_unique_id/include \
-            $(SDK_DIR)/rp2_common/hardware_dcp/include \
-            $(SDK_DIR)/rp2_common/hardware_watchdog/include \
-            $(SDK_DIR)/rp2_common/pico_rand/include \
-            $(SDK_DIR)/rp2_common/hardware_hazard3/include \
-            $(SDK_DIR)/rp2_common/hardware_uart/include \
-            $(SDK_DIR)/rp2_common/hardware_interp/include \
-            $(SDK_DIR)/rp2_common/pico_printf/include \
-            $(SDK_DIR)/rp2_common/pico_aon_timer/include \
-            $(SDK_DIR)/rp2_common/hardware_riscv_platform_timer/include \
-            $(SDK_DIR)/rp2_common/pico_double/include \
-            $(SDK_DIR)/rp2_common/pico_cyw43_arch/include \
-            $(SDK_DIR)/rp2_common/hardware_vreg/include \
-            $(SDK_DIR)/rp2_common/pico_mbedtls/include \
-            $(SDK_DIR)/rp2_common/hardware_spi/include \
-            $(SDK_DIR)/rp2_common/hardware_rcp/include \
-            $(SDK_DIR)/rp2_common/hardware_riscv/include \
-            $(SDK_DIR)/rp2_common/pico_standard_binary_info/include \
-            $(SDK_DIR)/rp2_common/pico_i2c_slave/include \
-            $(SDK_DIR)/rp2_common/pico_int64_ops/include \
-            $(SDK_DIR)/rp2_common/pico_sha256/include \
-            $(SDK_DIR)/rp2_common/hardware_irq/include \
-            $(SDK_DIR)/rp2_common/pico_divider/include \
-            $(SDK_DIR)/rp2_common/pico_flash/include \
-            $(SDK_DIR)/rp2_common/hardware_sync/include \
-            $(SDK_DIR)/rp2_common/pico_bootrom/include \
-            $(SDK_DIR)/rp2_common/pico_crt0/include \
-            $(SDK_DIR)/rp2_common/pico_clib_interface/include \
-            $(SDK_DIR)/rp2_common/pico_stdio/include \
-            $(SDK_DIR)/rp2_common/pico_runtime/include \
-            $(SDK_DIR)/rp2_common/pico_time_adapter/include \
-            $(SDK_DIR)/rp2_common/pico_platform_panic/include \
-            $(SDK_DIR)/rp2_common/hardware_adc/include \
-            $(SDK_DIR)/rp2_common/cmsis/include \
-            $(SDK_DIR)/rp2_common/hardware_pll/include \
-            $(SDK_DIR)/rp2_common/pico_platform_sections/include \
-            $(SDK_DIR)/rp2_common/boot_bootrom_headers/include \
-            $(SDK_DIR)/rp2_common/pico_fix/include \
-            $(SDK_DIR)/rp2_common/pico_lwip/include \
-            $(SDK_DIR)/rp2_common/hardware_base/include \
-            $(SDK_DIR)/rp2_common/hardware_xosc/include \
-            $(SDK_DIR)/rp2_common/pico_async_context/include \
-            $(SDK_DIR)/rp2_common/hardware_pwm/include \
-            $(SDK_DIR)/rp2_common/pico_stdio_semihosting/include \
-            $(SDK_DIR)/rp2_common/pico_float/include \
-            $(SDK_DIR)/rp2_common/hardware_resets/include \
-            $(SDK_DIR)/rp2_common/pico_cxx_options/include \
-            $(SDK_DIR)/rp2_common/pico_stdlib/include \
-            $(SDK_DIR)/rp2_common/hardware_sha256/include \
-            $(SDK_DIR)/rp2_common/hardware_i2c/include \
-            $(SDK_DIR)/rp2_common/pico_atomic/include \
-            $(SDK_DIR)/rp2_common/pico_multicore/include \
-            $(SDK_DIR)/rp2_common/hardware_gpio/include \
-            $(SDK_DIR)/rp2_common/pico_malloc/include \
-            $(SDK_DIR)/rp2_common/hardware_timer/include \
-            $(CMSIS_DIR)/Core/Include \
-            $(CMSIS_DIR)/Device/$(TARGET_MCU)/Include
-
-#Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m33 -march=armv8-m.main+fp+dsp -mfloat-abi=softfp -mcmse
-
-DEVICE_FLAGS    =
-
-ifeq ($(TARGET_MCU),RP2350)
-DEVICE_FLAGS    += -DRP2350 -DLIB_BOOT_STAGE2_HEADERS=1 -DLIB_PICO_ATOMIC=1 -DLIB_PICO_BIT_OPS=1 -DLIB_PICO_BIT_OPS_PICO=1 -DLIB_PICO_CLIB_INTERFACE=1 -DLIB_PICO_CRT0=1 -DLIB_PICO_CXX_OPTIONS=1 -DLIB_PICO_DIVIDER=1 -DLIB_PICO_DIVIDER_COMPILER=1 -DLIB_PICO_DOUBLE=1 -DLIB_PICO_DOUBLE_PICO=1 -DLIB_PICO_FLOAT=1 -DLIB_PICO_FLOAT_PICO=1 -DLIB_PICO_FLOAT_PICO_VFP=1 -DLIB_PICO_INT64_OPS=1 -DLIB_PICO_INT64_OPS_COMPILER=1 -DLIB_PICO_MALLOC=1 -DLIB_PICO_MEM_OPS=1 -DLIB_PICO_MEM_OPS_COMPILER=1 -DLIB_PICO_NEWLIB_INTERFACE=1 -DLIB_PICO_PLATFORM=1 -DLIB_PICO_PLATFORM_COMPILER=1 -DLIB_PICO_PLATFORM_PANIC=1 -DLIB_PICO_PLATFORM_SECTIONS=1 -DLIB_PICO_PRINTF=1 -DLIB_PICO_PRINTF_PICO=1 -DLIB_PICO_RUNTIME=1 -DLIB_PICO_RUNTIME_INIT=1 -DLIB_PICO_STANDARD_BINARY_INFO=1 -DLIB_PICO_STANDARD_LINK=1 -DLIB_PICO_STDIO=1 -DLIB_PICO_STDIO_UART=1 -DLIB_PICO_STDLIB=1 -DLIB_PICO_SYNC=1 -DLIB_PICO_SYNC_CRITICAL_SECTION=1 -DLIB_PICO_SYNC_MUTEX=1 -DLIB_PICO_SYNC_SEM=1 -DLIB_PICO_TIME=1 -DLIB_PICO_TIME_ADAPTER=1 -DLIB_PICO_UTIL=1 -DPICO_32BIT=1 -DPICO_BUILD=1 -DPICO_COPY_TO_RAM=0 -DPICO_CXX_ENABLE_EXCEPTIONS=0 -DPICO_NO_FLASH=0 -DPICO_NO_HARDWARE=0 -DPICO_ON_DEVICE=1 -DPICO_RP2350=1 -DPICO_USE_BLOCKED_RAM=0
-LD_SCRIPT       = $(LINKER_DIR)/pico_rp2350.ld
-STARTUP_SRC     = startup/bs2_default_padded_checksummed.S
-MCU_FLASH_SIZE  = 4096
-# Override the OPTIMISE_SPEED compiler setting to save flash space on these 512KB targets.
-# Performance is only slightly affected but around 50 kB of flash are saved.
-OPTIMISE_SPEED  = -O2
-else
-$(error Unknown MCU for Raspberry PICO target)
-endif
-
-DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE) -DPICO
-
-MCU_COMMON_SRC = \
-
-
-DEVICE_FLAGS +=
diff --git a/src/platform/PICO/platform_mcu.h b/src/platform/PICO/platform_mcu.h
deleted file mode 100644
index 253dddd054..0000000000
--- a/src/platform/PICO/platform_mcu.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * This file is part of Betaflight.
- *
- * Betaflight is free software. You can redistribute this software
- * and/or modify this software 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 this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#if defined(RP2350)
-
-#include "RP2350.h"
-
-typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
-
-#define I2C_TypeDef          I2C0_Type
-//#define I2C_HandleTypeDef
-#define GPIO_TypeDef         IO_BANK0_Type
-//#define GPIO_InitTypeDef
-#define TIM_TypeDef          TIMER0_Type
-//#define TIM_OCInitTypeDef
-#define DMA_TypeDef          DMA_Type
-//#define DMA_InitTypeDef
-//#define DMA_Channel_TypeDef
-#define SPI_TypeDef          SPI0_Type
-#define ADC_TypeDef          ADC_Type
-#define USART_TypeDef        UART0_Type
-#define TIM_OCInitTypeDef    TIMER0_Type
-#define TIM_ICInitTypeDef    TIMER0_Type
-//#define TIM_OCStructInit
-//#define TIM_Cmd
-//#define TIM_CtrlPWMOutputs
-//#define TIM_TimeBaseInit
-//#define TIM_ARRPreloadConfig
-//#define SystemCoreClock
-//#define EXTI_TypeDef
-//#define EXTI_InitTypeDef
-
-
-#endif
-
-#define DEFAULT_CPU_OVERCLOCK           0
-#define TASK_GYROPID_DESIRED_PERIOD     125 // 125us = 8kHz
-#define SCHEDULER_DELAY_LIMIT           10
-
-#define IOCFG_OUT_PP          0
-#define IOCFG_OUT_OD          0
-#define IOCFG_AF_PP           0
-#define IOCFG_AF_OD           0
-#define IOCFG_IPD             0
-#define IOCFG_IPU             0
-#define IOCFG_IN_FLOATING     0
-
diff --git a/src/platform/PICO/startup/bs2_default_padded_checksummed.S b/src/platform/PICO/startup/bs2_default_padded_checksummed.S
deleted file mode 100644
index 124bd8d265..0000000000
--- a/src/platform/PICO/startup/bs2_default_padded_checksummed.S
+++ /dev/null
@@ -1,25 +0,0 @@
-// Padded and checksummed version of: /home/black/src/pico/hello/build/pico-sdk/src/rp2350/boot_stage2/bs2_default.bin
-
-.cpu cortex-m0plus
-.thumb
-
-.section .boot2, "ax"
-
-.global __boot2_entry_point
-__boot2_entry_point:
-.byte 0x00, 0xb5, 0x24, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x13, 0xf5, 0x40, 0x53, 0x02, 0x20, 0x98, 0x60
-.byte 0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x13, 0xf5, 0x0d, 0x23, 0x1f, 0x49, 0x19, 0x60, 0x18, 0x68
-.byte 0x10, 0xf0, 0x02, 0x0f, 0xfb, 0xd1, 0x35, 0x20, 0x00, 0xf0, 0x2c, 0xf8, 0x02, 0x28, 0x14, 0xd0
-.byte 0x06, 0x20, 0x58, 0x60, 0x00, 0xf0, 0x22, 0xf8, 0x98, 0x68, 0x01, 0x20, 0x58, 0x60, 0x00, 0x20
-.byte 0x58, 0x60, 0x02, 0x20, 0x58, 0x60, 0x00, 0xf0, 0x19, 0xf8, 0x98, 0x68, 0x98, 0x68, 0x98, 0x68
-.byte 0x05, 0x20, 0x00, 0xf0, 0x17, 0xf8, 0x40, 0x08, 0xfa, 0xd2, 0x31, 0xf0, 0x01, 0x01, 0x19, 0x60
-.byte 0x0e, 0x48, 0xd8, 0x60, 0x4a, 0xf2, 0xeb, 0x00, 0x58, 0x61, 0x0d, 0x48, 0x18, 0x61, 0x4f, 0xf0
-.byte 0xa0, 0x51, 0x09, 0x78, 0x20, 0xf4, 0x80, 0x50, 0x18, 0x61, 0x00, 0xbd, 0x18, 0x68, 0x80, 0x08
-.byte 0xfc, 0xd2, 0x70, 0x47, 0x00, 0xb5, 0x58, 0x60, 0x58, 0x60, 0xff, 0xf7, 0xf7, 0xff, 0x98, 0x68
-.byte 0x98, 0x68, 0x00, 0xbd, 0x00, 0x00, 0x04, 0x40, 0x41, 0x00, 0x80, 0x07, 0x02, 0x02, 0x00, 0x40
-.byte 0xa8, 0x92, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
diff --git a/src/platform/PICO/target/RP2350/.exclude b/src/platform/PICO/target/RP2350/.exclude
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/platform/PICO/target/RP2350/target.h b/src/platform/PICO/target/RP2350/target.h
deleted file mode 100644
index f7b9076ccc..0000000000
--- a/src/platform/PICO/target/RP2350/target.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * This file is part of Betaflight.
- *
- * Betaflight is free software. You can redistribute this software
- * and/or modify this software 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 this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#ifndef TARGET_BOARD_IDENTIFIER
-#define TARGET_BOARD_IDENTIFIER "R235"
-#endif
-
-#ifndef USBD_PRODUCT_STRING
-#define USBD_PRODUCT_STRING     "Betaflight RP2350"
-#endif
-
-#undef USE_DMA
-#undef USE_FLASH
-#undef USE_FLASH_CHIP
-
-#undef USE_TIMER
-#undef USE_SPI
-#undef USE_I2C
-#undef USE_UART
-#undef USE_DSHOT
-#undef USE_RCC
-
-#define GPIOA_BASE ((intptr_t)0x0001)
-
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTE 0xffff
-#define TARGET_IO_PORTF 0xffff
-
-#undef USE_FLASH
-#undef USE_FLASH_CHIP
-#undef USE_FLASH_M25P16
-#undef USE_FLASH_W25N01G
-#undef USE_FLASH_W25N02K
-#undef USE_FLASH_W25M
-#undef USE_FLASH_W25M512
-#undef USE_FLASH_W25M02G
-#undef USE_FLASH_W25Q128FV
-#undef USE_FLASH_PY25Q128HA
-#undef USE_FLASH_W25Q64FV
-
-#define FLASH_PAGE_SIZE 0x1000
-#define CONFIG_IN_RAM
-
-#define U_ID_0 0
-#define U_ID_1 1
-#define U_ID_2 2
diff --git a/src/platform/PICO/target/RP2350/target.mk b/src/platform/PICO/target/RP2350/target.mk
deleted file mode 100644
index 94f4209a29..0000000000
--- a/src/platform/PICO/target/RP2350/target.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-TARGET_MCU        := RP2350
-TARGET_MCU_FAMILY := PICO
diff --git a/src/platform/SIMULATOR/platform_mcu.h b/src/platform/SIMULATOR/include/platform/platform.h
similarity index 91%
rename from src/platform/SIMULATOR/platform_mcu.h
rename to src/platform/SIMULATOR/include/platform/platform.h
index be11284f04..4331c71989 100644
--- a/src/platform/SIMULATOR/platform_mcu.h
+++ b/src/platform/SIMULATOR/include/platform/platform.h
@@ -33,3 +33,7 @@
 
 // no serial pins are defined for the simulator
 #define SERIAL_TRAIT_PIN_CONFIG 0
+
+#define I2CDEV_COUNT        0
+
+typedef void* ADC_TypeDef; // Dummy definition for ADC_TypeDef
diff --git a/src/platform/SIMULATOR/mk/SITL.mk b/src/platform/SIMULATOR/mk/SITL.mk
index 989306556f..757b0e4da8 100644
--- a/src/platform/SIMULATOR/mk/SITL.mk
+++ b/src/platform/SIMULATOR/mk/SITL.mk
@@ -1,3 +1,7 @@
+# SITL Makefile for the simulator platform
+
+# Default output is an exe file
+DEFAULT_OUTPUT := exe
 
 INCLUDE_DIRS := \
         $(INCLUDE_DIRS) \
diff --git a/src/platform/STM32/adc_stm32f4xx.c b/src/platform/STM32/adc_stm32f4xx.c
index 1a9de8f69d..f8c46d83e6 100644
--- a/src/platform/STM32/adc_stm32f4xx.c
+++ b/src/platform/STM32/adc_stm32f4xx.c
@@ -31,7 +31,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/dma.h"
 #include "drivers/sensor.h"
 #include "drivers/adc.h"
diff --git a/src/platform/STM32/adc_stm32f7xx.c b/src/platform/STM32/adc_stm32f7xx.c
index f631543c47..0ef61b3f32 100644
--- a/src/platform/STM32/adc_stm32f7xx.c
+++ b/src/platform/STM32/adc_stm32f7xx.c
@@ -30,7 +30,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/sensor.h"
 
 #include "drivers/adc.h"
diff --git a/src/platform/STM32/adc_stm32g4xx.c b/src/platform/STM32/adc_stm32g4xx.c
index 26e6ac9e6b..c378d9cbbd 100644
--- a/src/platform/STM32/adc_stm32g4xx.c
+++ b/src/platform/STM32/adc_stm32g4xx.c
@@ -31,7 +31,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 #include "drivers/dma.h"
 
diff --git a/src/platform/STM32/adc_stm32h7xx.c b/src/platform/STM32/adc_stm32h7xx.c
index 643fff600e..96a3327628 100644
--- a/src/platform/STM32/adc_stm32h7xx.c
+++ b/src/platform/STM32/adc_stm32h7xx.c
@@ -31,7 +31,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 #include "drivers/dma.h"
 
diff --git a/src/platform/STM32/bus_i2c_hal.c b/src/platform/STM32/bus_i2c_hal.c
index bdb3c5fd39..915cc9a7cf 100644
--- a/src/platform/STM32/bus_i2c_hal.c
+++ b/src/platform/STM32/bus_i2c_hal.c
@@ -30,7 +30,7 @@
 #include "drivers/io_impl.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
diff --git a/src/platform/STM32/bus_i2c_hal_init.c b/src/platform/STM32/bus_i2c_hal_init.c
index 650c034244..d41926a470 100644
--- a/src/platform/STM32/bus_i2c_hal_init.c
+++ b/src/platform/STM32/bus_i2c_hal_init.c
@@ -29,7 +29,7 @@
 #include "drivers/io.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
diff --git a/src/platform/STM32/bus_i2c_stm32f4xx.c b/src/platform/STM32/bus_i2c_stm32f4xx.c
index 2d7be2dfb5..3a27d75edd 100644
--- a/src/platform/STM32/bus_i2c_stm32f4xx.c
+++ b/src/platform/STM32/bus_i2c_stm32f4xx.c
@@ -30,7 +30,7 @@
 #include "drivers/io.h"
 #include "drivers/time.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
diff --git a/src/platform/STM32/bus_quadspi_hal.c b/src/platform/STM32/bus_quadspi_hal.c
index bc119ee796..efb7226f93 100644
--- a/src/platform/STM32/bus_quadspi_hal.c
+++ b/src/platform/STM32/bus_quadspi_hal.c
@@ -33,7 +33,7 @@
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "pg/bus_quadspi.h"
 
diff --git a/src/platform/STM32/bus_spi_ll.c b/src/platform/STM32/bus_spi_ll.c
index 9e3d3ea21c..2a12575335 100644
--- a/src/platform/STM32/bus_spi_ll.c
+++ b/src/platform/STM32/bus_spi_ll.c
@@ -34,7 +34,7 @@
 #include "drivers/bus_spi_impl.h"
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 // Use DMA if possible if this many bytes are to be transferred
 #define SPI_DMA_THRESHOLD 8
diff --git a/src/platform/STM32/bus_spi_stdperiph.c b/src/platform/STM32/bus_spi_stdperiph.c
index 5fcf671528..9bb02fba80 100644
--- a/src/platform/STM32/bus_spi_stdperiph.c
+++ b/src/platform/STM32/bus_spi_stdperiph.c
@@ -35,7 +35,7 @@
 #include "drivers/bus_spi_impl.h"
 #include "drivers/exti.h"
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 // Use DMA if possible if this many bytes are to be transferred
 #define SPI_DMA_THRESHOLD 8
diff --git a/src/platform/STM32/dma_stm32f7xx.c b/src/platform/STM32/dma_stm32f7xx.c
index 14ece8e35c..eb432a39d7 100644
--- a/src/platform/STM32/dma_stm32f7xx.c
+++ b/src/platform/STM32/dma_stm32f7xx.c
@@ -28,7 +28,7 @@
 
 #include "drivers/nvic.h"
 #include "drivers/dma.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 
 /*
diff --git a/src/platform/STM32/dma_stm32g4xx.c b/src/platform/STM32/dma_stm32g4xx.c
index 6e0d805038..d8e9d25672 100644
--- a/src/platform/STM32/dma_stm32g4xx.c
+++ b/src/platform/STM32/dma_stm32g4xx.c
@@ -28,7 +28,7 @@
 
 #include "drivers/nvic.h"
 #include "drivers/dma.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 
 /*
diff --git a/src/platform/STM32/dma_stm32h7xx.c b/src/platform/STM32/dma_stm32h7xx.c
index 52d7aa1a27..9ecbc185a9 100644
--- a/src/platform/STM32/dma_stm32h7xx.c
+++ b/src/platform/STM32/dma_stm32h7xx.c
@@ -28,7 +28,7 @@
 
 #include "drivers/nvic.h"
 #include "drivers/dma.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/resource.h"
 
 /*
diff --git a/src/platform/STM32/platform_mcu.h b/src/platform/STM32/include/platform/platform.h
similarity index 96%
rename from src/platform/STM32/platform_mcu.h
rename to src/platform/STM32/include/platform/platform.h
index f8c2e75d80..3f9e13e5a1 100644
--- a/src/platform/STM32/platform_mcu.h
+++ b/src/platform/STM32/include/platform/platform.h
@@ -39,7 +39,8 @@
 #define U_ID_1 (*(uint32_t*)(UID_BASE + 4))
 #define U_ID_2 (*(uint32_t*)(UID_BASE + 8))
 
-#define USE_PIN_AF
+#define SPI_TRAIT_AF_PIN 1
+#define I2C_TRAIT_AF_PIN 1
 
 #ifndef STM32G4
 #define STM32G4
@@ -64,7 +65,8 @@
 #define U_ID_1 (*(uint32_t*)(UID_BASE + 4))
 #define U_ID_2 (*(uint32_t*)(UID_BASE + 8))
 
-#define USE_PIN_AF
+#define SPI_TRAIT_AF_PIN 1
+#define I2C_TRAIT_AF_PIN 1
 
 #ifndef STM32H7
 #define STM32H7
@@ -89,7 +91,7 @@
 #define U_ID_1 (*(uint32_t*)(UID_BASE + 4))
 #define U_ID_2 (*(uint32_t*)(UID_BASE + 8))
 
-#define USE_PIN_AF
+#define SPI_TRAIT_AF_PIN 1
 
 #ifndef STM32F7
 #define STM32F7
@@ -104,6 +106,11 @@
 #define U_ID_1 (*(uint32_t*)0x1fff7a14)
 #define U_ID_2 (*(uint32_t*)0x1fff7a18)
 
+#define SPI_TRAIT_AF_PORT 1
+
+#define I2C_TRAIT_STATE 1
+#define I2C_TRAIT_AF_PIN 1
+
 #ifndef STM32F4
 #define STM32F4
 #endif
@@ -419,3 +426,25 @@ extern uint8_t _dmaram_end__;
 
 #define SERIAL_TRAIT_PIN_CONFIG 1
 #define USB_DP_PIN PA12
+
+#if defined(USE_HAL_DRIVER)
+#define I2C_TRAIT_HANDLE 1
+
+#if defined(HAL_SPI_MODULE_ENABLED)
+#define SPI_TRAIT_HANDLE 1
+#endif
+
+#endif
+
+#if defined(STM32F4)
+#define I2CDEV_COUNT 3
+#else
+#define I2CDEV_COUNT 4
+#endif
+
+// QUAD SPI
+#if defined(STM32H7)
+#define QUADSPI_TRAIT_AF_PIN 1
+#define QUADSPI_TRAIT_HANDLE 1
+#define MAX_QUADSPI_PIN_SEL 3
+#endif
diff --git a/src/platform/STM32/io_stm32.c b/src/platform/STM32/io_stm32.c
index 2557f09764..abcde9cf92 100644
--- a/src/platform/STM32/io_stm32.c
+++ b/src/platform/STM32/io_stm32.c
@@ -22,7 +22,7 @@
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "common/utils.h"
 
diff --git a/src/platform/STM32/light_ws2811strip_hal.c b/src/platform/STM32/light_ws2811strip_hal.c
index bdb9487851..c5f885c1b2 100644
--- a/src/platform/STM32/light_ws2811strip_hal.c
+++ b/src/platform/STM32/light_ws2811strip_hal.c
@@ -31,7 +31,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/system.h"
 #include "drivers/timer.h"
 
diff --git a/src/platform/STM32/light_ws2811strip_stdperiph.c b/src/platform/STM32/light_ws2811strip_stdperiph.c
index 1b4dbf9017..13723de3f5 100644
--- a/src/platform/STM32/light_ws2811strip_stdperiph.c
+++ b/src/platform/STM32/light_ws2811strip_stdperiph.c
@@ -34,7 +34,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 #include "drivers/light_ws2811strip.h"
diff --git a/src/platform/STM32/mk/STM32_COMMON.mk b/src/platform/STM32/mk/STM32_COMMON.mk
index a70deb0de2..f300fd3b32 100644
--- a/src/platform/STM32/mk/STM32_COMMON.mk
+++ b/src/platform/STM32/mk/STM32_COMMON.mk
@@ -5,8 +5,8 @@ MCU_COMMON_SRC += \
             common/stm32/system.c \
             common/stm32/config_flash.c \
             common/stm32/bus_spi_pinconfig.c \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_pinconfig.c \
             common/stm32/bus_spi_hw.c \
             common/stm32/io_impl.c \
             common/stm32/serial_uart_hw.c \
@@ -16,8 +16,8 @@ MCU_COMMON_SRC += \
             common/stm32/dshot_bitbang_shared.c
 
 SIZE_OPTIMISED_SRC += \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_pinconfig.c \
             common/stm32/config_flash.c \
             common/stm32/bus_spi_pinconfig.c
 
diff --git a/src/platform/STM32/pwm_output_dshot.c b/src/platform/STM32/pwm_output_dshot.c
index dcf2bba859..506a147364 100644
--- a/src/platform/STM32/pwm_output_dshot.c
+++ b/src/platform/STM32/pwm_output_dshot.c
@@ -32,7 +32,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/time.h"
 #include "drivers/timer.h"
 #include "drivers/system.h"
diff --git a/src/platform/STM32/pwm_output_dshot_hal.c b/src/platform/STM32/pwm_output_dshot_hal.c
index 3e6fe722a3..0c82414916 100644
--- a/src/platform/STM32/pwm_output_dshot_hal.c
+++ b/src/platform/STM32/pwm_output_dshot_hal.c
@@ -40,7 +40,7 @@
 #include "drivers/motor.h"
 #include "drivers/pwm_output.h"
 #include "pwm_output_dshot_shared.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/time.h"
 #include "drivers/timer.h"
 #include "drivers/system.h"
diff --git a/src/platform/STM32/rcc_stm32.c b/src/platform/STM32/rcc_stm32.c
index f8afd03f36..17f10fbb52 100644
--- a/src/platform/STM32/rcc_stm32.c
+++ b/src/platform/STM32/rcc_stm32.c
@@ -19,7 +19,7 @@
  */
 
 #include "platform.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
 {
diff --git a/src/platform/STM32/sdio_f4xx.c b/src/platform/STM32/sdio_f4xx.c
index ec64647c3f..3aba6decb5 100644
--- a/src/platform/STM32/sdio_f4xx.c
+++ b/src/platform/STM32/sdio_f4xx.c
@@ -44,7 +44,7 @@
 #include "drivers/io_impl.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/dma.h"
 #include "drivers/light_led.h"
 
diff --git a/src/platform/STM32/sdio_f7xx.c b/src/platform/STM32/sdio_f7xx.c
index 2f1bc62b5c..112028e6f8 100644
--- a/src/platform/STM32/sdio_f7xx.c
+++ b/src/platform/STM32/sdio_f7xx.c
@@ -41,7 +41,7 @@
 #include "drivers/io_impl.h"
 #include "drivers/nvic.h"
 #include "drivers/time.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/dma.h"
 #include "drivers/light_led.h"
 
diff --git a/src/platform/STM32/serial_uart_hal.c b/src/platform/STM32/serial_uart_hal.c
index f319bce78c..862bdb68d6 100644
--- a/src/platform/STM32/serial_uart_hal.c
+++ b/src/platform/STM32/serial_uart_hal.c
@@ -42,7 +42,7 @@
 #include "drivers/nvic.h"
 #include "drivers/inverter.h"
 #include "drivers/dma.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
diff --git a/src/platform/STM32/serial_uart_stdperiph.c b/src/platform/STM32/serial_uart_stdperiph.c
index b65275c427..b028371dff 100644
--- a/src/platform/STM32/serial_uart_stdperiph.c
+++ b/src/platform/STM32/serial_uart_stdperiph.c
@@ -42,7 +42,7 @@
 #include "common/utils.h"
 #include "drivers/inverter.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
diff --git a/src/platform/STM32/serial_uart_stm32f4xx.c b/src/platform/STM32/serial_uart_stm32f4xx.c
index d289a1e671..a2ab2fc714 100644
--- a/src/platform/STM32/serial_uart_stm32f4xx.c
+++ b/src/platform/STM32/serial_uart_stm32f4xx.c
@@ -35,7 +35,7 @@
 #include "drivers/io.h"
 #include "drivers/dma.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
diff --git a/src/platform/STM32/serial_uart_stm32f7xx.c b/src/platform/STM32/serial_uart_stm32f7xx.c
index 3205cf8620..ad67a92f0e 100644
--- a/src/platform/STM32/serial_uart_stm32f7xx.c
+++ b/src/platform/STM32/serial_uart_stm32f7xx.c
@@ -33,7 +33,7 @@
 #include "drivers/dma.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
diff --git a/src/platform/STM32/serial_uart_stm32g4xx.c b/src/platform/STM32/serial_uart_stm32g4xx.c
index 211e6f41fa..2042df06dd 100644
--- a/src/platform/STM32/serial_uart_stm32g4xx.c
+++ b/src/platform/STM32/serial_uart_stm32g4xx.c
@@ -31,7 +31,7 @@
 #include "drivers/dma.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
diff --git a/src/platform/STM32/serial_uart_stm32h7xx.c b/src/platform/STM32/serial_uart_stm32h7xx.c
index bbed4b6ed0..898fdf0937 100644
--- a/src/platform/STM32/serial_uart_stm32h7xx.c
+++ b/src/platform/STM32/serial_uart_stm32h7xx.c
@@ -33,7 +33,7 @@
 #include "drivers/dma.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
diff --git a/src/platform/STM32/timer_hal.c b/src/platform/STM32/timer_hal.c
index c9e9180f6c..e4ea1a413a 100644
--- a/src/platform/STM32/timer_hal.c
+++ b/src/platform/STM32/timer_hal.c
@@ -36,7 +36,7 @@
 #include "drivers/io.h"
 #include "drivers/dma.h"
 
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "drivers/timer.h"
 #include "drivers/timer_impl.h"
diff --git a/src/platform/STM32/timer_stdperiph.c b/src/platform/STM32/timer_stdperiph.c
index 8e0c2bc95a..c5ecefba24 100644
--- a/src/platform/STM32/timer_stdperiph.c
+++ b/src/platform/STM32/timer_stdperiph.c
@@ -34,12 +34,13 @@
 #include "drivers/nvic.h"
 
 #include "drivers/io.h"
-#include "drivers/rcc.h"
 #include "drivers/system.h"
 
 #include "drivers/timer.h"
 #include "drivers/timer_impl.h"
 
+#include "platform/rcc.h"
+
 #define TIM_N(n) (1 << (n))
 
 /*
diff --git a/src/platform/STM32/timer_stm32f4xx.c b/src/platform/STM32/timer_stm32f4xx.c
index 4bc5b1d2db..ed193e64f7 100644
--- a/src/platform/STM32/timer_stm32f4xx.c
+++ b/src/platform/STM32/timer_stm32f4xx.c
@@ -29,7 +29,7 @@
 #include "timer_def.h"
 
 #include "stm32f4xx.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
diff --git a/src/platform/STM32/timer_stm32f7xx.c b/src/platform/STM32/timer_stm32f7xx.c
index 464873c89c..92f958929d 100644
--- a/src/platform/STM32/timer_stm32f7xx.c
+++ b/src/platform/STM32/timer_stm32f7xx.c
@@ -29,7 +29,7 @@
 #include "timer_def.h"
 
 #include "stm32f7xx.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
diff --git a/src/platform/STM32/timer_stm32g4xx.c b/src/platform/STM32/timer_stm32g4xx.c
index e93f79fbe2..c2256e6c67 100644
--- a/src/platform/STM32/timer_stm32g4xx.c
+++ b/src/platform/STM32/timer_stm32g4xx.c
@@ -29,7 +29,7 @@
 #include "timer_def.h"
 
 #include "stm32g4xx.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
diff --git a/src/platform/STM32/timer_stm32h5xx.c b/src/platform/STM32/timer_stm32h5xx.c
index e4d06b9335..c9edec4ba6 100644
--- a/src/platform/STM32/timer_stm32h5xx.c
+++ b/src/platform/STM32/timer_stm32h5xx.c
@@ -30,7 +30,7 @@
 #include "timer_def.h"
 
 #include "stm32h5xx.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
diff --git a/src/platform/STM32/timer_stm32h7xx.c b/src/platform/STM32/timer_stm32h7xx.c
index 3462e9d7f2..4fa37a0423 100644
--- a/src/platform/STM32/timer_stm32h7xx.c
+++ b/src/platform/STM32/timer_stm32h7xx.c
@@ -29,7 +29,7 @@
 #include "timer_def.h"
 
 #include "stm32h7xx.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 
 const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
diff --git a/src/platform/STM32/transponder_ir_io_hal.c b/src/platform/STM32/transponder_ir_io_hal.c
index 1f3f203407..51ae36da97 100644
--- a/src/platform/STM32/transponder_ir_io_hal.c
+++ b/src/platform/STM32/transponder_ir_io_hal.c
@@ -30,7 +30,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 #include "drivers/transponder_ir_arcitimer.h"
 #include "drivers/transponder_ir_erlt.h"
diff --git a/src/platform/STM32/transponder_ir_io_stdperiph.c b/src/platform/STM32/transponder_ir_io_stdperiph.c
index 0d4170cc0f..03d6c735c0 100644
--- a/src/platform/STM32/transponder_ir_io_stdperiph.c
+++ b/src/platform/STM32/transponder_ir_io_stdperiph.c
@@ -30,7 +30,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/timer.h"
 #include "drivers/transponder_ir_arcitimer.h"
 #include "drivers/transponder_ir_erlt.h"
diff --git a/src/main/drivers/bus_i2c_config.c b/src/platform/common/stm32/bus_i2c_pinconfig.c
similarity index 89%
rename from src/main/drivers/bus_i2c_config.c
rename to src/platform/common/stm32/bus_i2c_pinconfig.c
index 4cf78c03ba..dfa1147c7d 100644
--- a/src/main/drivers/bus_i2c_config.c
+++ b/src/platform/common/stm32/bus_i2c_pinconfig.c
@@ -39,7 +39,7 @@
 
 #include "pg/bus_i2c.h"
 
-void i2cHardwareConfigure(const i2cConfig_t *i2cConfig)
+void i2cPinConfigure(const i2cConfig_t *i2cConfig)
 {
     for (int index = 0 ; index < I2CDEV_COUNT ; index++) {
         const i2cHardware_t *hardware = &i2cHardware[index];
@@ -56,13 +56,13 @@ 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) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
                 pDev->sclAF = hardware->sclPins[pindex].af;
 #endif
             }
             if (i2cConfig[device].ioTagSda == hardware->sdaPins[pindex].ioTag) {
                 pDev->sda = IOGetByTag(i2cConfig[device].ioTagSda);
-#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
                 pDev->sdaAF = hardware->sdaPins[pindex].af;
 #endif
             }
diff --git a/src/platform/common/stm32/bus_spi_pinconfig.c b/src/platform/common/stm32/bus_spi_pinconfig.c
index 59c68b214a..52d2d456c2 100644
--- a/src/platform/common/stm32/bus_spi_pinconfig.c
+++ b/src/platform/common/stm32/bus_spi_pinconfig.c
@@ -33,7 +33,7 @@
 #include "drivers/dma.h"
 #include "drivers/exti.h"
 #include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 
 #include "pg/bus_spi.h"
 
@@ -348,21 +348,20 @@ const spiHardware_t spiHardware[] = {
         .device = SPIDEV_1,
         .reg = SPI1,
         .sckPins = {
-            { DEFIO_TAG_E(PA5) ,GPIO_MUX_5},
-            { DEFIO_TAG_E(PB3) ,GPIO_MUX_5},
-            { DEFIO_TAG_E(PE13),GPIO_MUX_4},
+            { DEFIO_TAG_E(PA5),   GPIO_MUX_5},
+            { DEFIO_TAG_E(PB3),   GPIO_MUX_5},
+            { DEFIO_TAG_E(PE13),  GPIO_MUX_4},
         },
         .misoPins = {
-            { DEFIO_TAG_E(PA6) ,GPIO_MUX_5},
-            { DEFIO_TAG_E(PB4) ,GPIO_MUX_5},
-            { DEFIO_TAG_E(PE14),GPIO_MUX_4}
+            { DEFIO_TAG_E(PA6),   GPIO_MUX_5},
+            { DEFIO_TAG_E(PB4),   GPIO_MUX_5},
+            { DEFIO_TAG_E(PE14),  GPIO_MUX_4}
         },
         .mosiPins = {
-            { DEFIO_TAG_E(PA7) ,GPIO_MUX_5},
-            { DEFIO_TAG_E(PB5) ,GPIO_MUX_5},
-            { DEFIO_TAG_E(PE15),GPIO_MUX_4},
+            { DEFIO_TAG_E(PA7),   GPIO_MUX_5},
+            { DEFIO_TAG_E(PB5),   GPIO_MUX_5},
+            { DEFIO_TAG_E(PE15),  GPIO_MUX_4},
         },
-        .af= 0x00,
         .rcc = RCC_APB2(SPI1),
     },
     {
@@ -370,7 +369,7 @@ const spiHardware_t spiHardware[] = {
         .reg = SPI2,
         .sckPins = {
              { DEFIO_TAG_E(PB10), GPIO_MUX_5},
-             { DEFIO_TAG_E(PB13) ,GPIO_MUX_5},
+             { DEFIO_TAG_E(PB13), GPIO_MUX_5},
              { DEFIO_TAG_E(PC7),  GPIO_MUX_5},
              { DEFIO_TAG_E(PD1),  GPIO_MUX_6},
 
@@ -387,7 +386,6 @@ const spiHardware_t spiHardware[] = {
             { DEFIO_TAG_E(PC3),   GPIO_MUX_5},
             { DEFIO_TAG_E(PD4),   GPIO_MUX_6},
         },
-        .af= 0x00,
         .rcc = RCC_APB1(SPI2),
     },
     {
@@ -409,7 +407,6 @@ const spiHardware_t spiHardware[] = {
             { DEFIO_TAG_E(PC12),  GPIO_MUX_6},
             { DEFIO_TAG_E(PD0),  GPIO_MUX_6},
         },
-        .af= 0x00,
         .rcc = RCC_APB1(SPI3),
     },
     {
@@ -428,7 +425,6 @@ const spiHardware_t spiHardware[] = {
             { DEFIO_TAG_E(PA1),   GPIO_MUX_5},
             { DEFIO_TAG_E(PB9),   GPIO_MUX_6},
         },
-        .af= 0x00,
         .rcc = RCC_APB2(SPI4),
     },
 #endif
@@ -505,19 +501,19 @@ void spiPinConfigure(const spiPinConfig_t *pConfig)
         for (int pindex = 0 ; pindex < MAX_SPI_PIN_SEL ; pindex++) {
             if (pConfig[device].ioTagSck == hw->sckPins[pindex].pin) {
                 pDev->sck = hw->sckPins[pindex].pin;
-#if defined(USE_PIN_AF)
+#if SPI_TRAIT_AF_PIN
                 pDev->sckAF = hw->sckPins[pindex].af;
 #endif
             }
             if (pConfig[device].ioTagMiso == hw->misoPins[pindex].pin) {
                 pDev->miso = hw->misoPins[pindex].pin;
-#if defined(USE_PIN_AF)
+#if SPI_TRAIT_AF_PIN
                 pDev->misoAF = hw->misoPins[pindex].af;
 #endif
             }
             if (pConfig[device].ioTagMosi == hw->mosiPins[pindex].pin) {
                 pDev->mosi = hw->mosiPins[pindex].pin;
-#if defined(USE_PIN_AF)
+#if SPI_TRAIT_AF_PIN
                 pDev->mosiAF = hw->mosiPins[pindex].af;
 #endif
             }
@@ -525,7 +521,7 @@ void spiPinConfigure(const spiPinConfig_t *pConfig)
 
         if (pDev->sck && pDev->miso && pDev->mosi) {
             pDev->dev = hw->reg;
-#if !defined(USE_PIN_AF)
+#if SPI_TRAIT_AF_PORT
             pDev->af = hw->af;
 #endif
             pDev->rcc = hw->rcc;
diff --git a/src/platform/common/stm32/io_impl.c b/src/platform/common/stm32/io_impl.c
index c2a98ad40f..a7fabbd3f8 100644
--- a/src/platform/common/stm32/io_impl.c
+++ b/src/platform/common/stm32/io_impl.c
@@ -76,3 +76,36 @@ int IO_GPIOPortIdx(IO_t io)
     }
     return (((size_t)IO_GPIO(io) - GPIOA_BASE) >> 10);
 }
+
+#if defined(STM32F4) || defined(APM32F4)
+int IO_EXTI_PortSourceGPIO(IO_t io)
+{
+    return IO_GPIOPortIdx(io);
+}
+#endif
+
+int IO_GPIO_PortSource(IO_t io)
+{
+    return IO_GPIOPortIdx(io);
+}
+
+// zero based pin index
+int IO_GPIOPinIdx(IO_t io)
+{
+    if (!io) {
+        return -1;
+    }
+    return 31 - __builtin_clz(IO_Pin(io));
+}
+
+#if defined(STM32F4) || defined(APM32F4)
+int IO_EXTI_PinSource(IO_t io)
+{
+    return IO_GPIOPinIdx(io);
+}
+#endif
+
+int IO_GPIO_PinSource(IO_t io)
+{
+    return IO_GPIOPinIdx(io);
+}
diff --git a/src/main/drivers/rcc.h b/src/platform/common/stm32/platform/rcc.h
similarity index 99%
rename from src/main/drivers/rcc.h
rename to src/platform/common/stm32/platform/rcc.h
index cdd2e3d1dd..69641b5e2d 100644
--- a/src/main/drivers/rcc.h
+++ b/src/platform/common/stm32/platform/rcc.h
@@ -20,7 +20,7 @@
 
 #pragma once
 
-#include "rcc_types.h"
+#include "platform/rcc_types.h"
 
 enum rcc_reg {
     RCC_EMPTY = 0,   // make sure that default value (0) does not enable anything
diff --git a/src/main/drivers/rcc_types.h b/src/platform/common/stm32/platform/rcc_types.h
similarity index 100%
rename from src/main/drivers/rcc_types.h
rename to src/platform/common/stm32/platform/rcc_types.h
diff --git a/src/platform/common/stm32/pwm_output_dshot_shared.c b/src/platform/common/stm32/pwm_output_dshot_shared.c
index ccf2ab661d..1bf57ee98d 100644
--- a/src/platform/common/stm32/pwm_output_dshot_shared.c
+++ b/src/platform/common/stm32/pwm_output_dshot_shared.c
@@ -33,7 +33,7 @@
 #include "drivers/dma_reqmap.h"
 #include "drivers/io.h"
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/time.h"
 #include "drivers/timer.h"
 #if defined(STM32F4)
diff --git a/src/platform/common/stm32/serial_uart_hw.c b/src/platform/common/stm32/serial_uart_hw.c
index 74e32147cf..1103a80db6 100644
--- a/src/platform/common/stm32/serial_uart_hw.c
+++ b/src/platform/common/stm32/serial_uart_hw.c
@@ -33,7 +33,7 @@
 #include "build/build_config.h"
 
 #include "drivers/nvic.h"
-#include "drivers/rcc.h"
+#include "platform/rcc.h"
 #include "drivers/inverter.h"
 #include "drivers/serial.h"
 #include "drivers/serial_impl.h"
diff --git a/src/test/unit/platform.h b/src/test/unit/platform.h
index dd03dce802..8f59e69f76 100644
--- a/src/test/unit/platform.h
+++ b/src/test/unit/platform.h
@@ -124,6 +124,8 @@ typedef struct
 } ADC_TypeDef;
 
 #define SPIDEV_COUNT 0
+#define I2CDEV_COUNT 0
+
 #define WS2811_DMA_TC_FLAG (void *)1
 #define WS2811_DMA_HANDLER_IDENTIFER 0
 #define NVIC_PriorityGroup_2 0x500
diff --git a/src/test/unit/timer_definition_unittest.include/pg/bus_i2c.h b/src/test/unit/timer_definition_unittest.include/pg/bus_i2c.h
index b822be69bf..954add5c7d 100644
--- a/src/test/unit/timer_definition_unittest.include/pg/bus_i2c.h
+++ b/src/test/unit/timer_definition_unittest.include/pg/bus_i2c.h
@@ -1,5 +1,5 @@
 #define I2CDEV_2 (1)
 
 int i2cConfig(int);
-void i2cHardwareConfigure(int);
+void i2cPinConfigure(int);
 void i2cInit(int);