diff --git a/bsp/stm32/libraries/HAL_Drivers/drivers/config/f4/i2c_hard_config.h b/bsp/stm32/libraries/HAL_Drivers/drivers/config/f4/i2c_hard_config.h
index b947b5eeb64..e3359dfd36c 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drivers/config/f4/i2c_hard_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/drivers/config/f4/i2c_hard_config.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2023, RT-Thread Development Team
+ * Copyright (c) 2006-2024, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -7,6 +7,7 @@
  * Date           Author       Notes
  * 2024-02-06     Dyyt587   first version
  * 2024-04-23     Zeidan    Add I2Cx_xx_DMA_CONFIG
+ * 2024-06-23     wdfk-prog Add I2C4 config entries
  */
 #ifndef __I2C_HARD_CONFIG_H__
 #define __I2C_HARD_CONFIG_H__
@@ -191,6 +192,64 @@ extern "C" {
 #endif /* I2C3_RX_DMA_CONFIG */
 #endif /* BSP_I2C3_RX_USING_DMA */
 
+#ifdef BSP_USING_HARD_I2C4
+#ifndef I2C4_BUS_CONFIG
+#define I2C4_BUS_CONFIG                             \
+    {                                               \
+        .Instance = I2C4,                           \
+        .timing = 0x10707DBC,                       \
+        .timeout = 0x1000,                          \
+        .name = "hwi2c4",                           \
+        .evirq_type = I2C4_EV_IRQn,                 \
+        .erirq_type = I2C4_ER_IRQn,                 \
+    }
+#endif /* I2C4_BUS_CONFIG */
+#endif /* BSP_USING_HARD_I2C4 */
+
+#ifdef BSP_I2C4_TX_USING_DMA
+#ifndef I2C4_TX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C4_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_TX_DMA_RCC,                 \
+        .Instance = I2C4_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_TX_DMA_IRQ,                 \
+        .channel = I2C4_TX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C4_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_TX_DMA_RCC,                 \
+        .Instance = I2C4_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_TX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C4_TX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C4_TX_DMA_CONFIG */
+#endif /* BSP_I2C4_TX_USING_DMA */
+
+#ifdef BSP_I2C4_RX_USING_DMA
+#ifndef I2C4_RX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C4_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_RX_DMA_RCC,                 \
+        .Instance = I2C4_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_RX_DMA_IRQ,                 \
+        .channel = I2C4_RX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C4_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_RX_DMA_RCC,                 \
+        .Instance = I2C4_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_RX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C4_RX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C4_RX_DMA_CONFIG */
+#endif /* BSP_I2C4_RX_USING_DMA */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/bsp/stm32/libraries/HAL_Drivers/drivers/config/h7/i2c_hard_config.h b/bsp/stm32/libraries/HAL_Drivers/drivers/config/h7/i2c_hard_config.h
new file mode 100644
index 00000000000..55959f7324b
--- /dev/null
+++ b/bsp/stm32/libraries/HAL_Drivers/drivers/config/h7/i2c_hard_config.h
@@ -0,0 +1,258 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2024-02-06     Dyyt587   first version
+ * 2024-04-23     Zeidan    Add I2Cx_xx_DMA_CONFIG
+ * 2024-06-23     wdfk-prog Add H7 hard I2C config
+ */
+#ifndef __I2C_HARD_CONFIG_H__
+#define __I2C_HARD_CONFIG_H__
+
+#include <rtthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef BSP_USING_HARD_I2C1
+#ifndef I2C1_BUS_CONFIG
+#define I2C1_BUS_CONFIG                             \
+    {                                               \
+        .Instance = I2C1,                           \
+        .timing = 0x307075B1,                       \
+        .timeout = 1000,                            \
+        .name = "hwi2c1",                           \
+        .evirq_type = I2C1_EV_IRQn,                 \
+        .erirq_type = I2C1_ER_IRQn,                 \
+    }
+#endif /* I2C1_BUS_CONFIG */
+#endif /* BSP_USING_HARD_I2C1 */
+
+#ifdef BSP_I2C1_TX_USING_DMA
+#ifndef I2C1_TX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C1_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C1_TX_DMA_RCC,                 \
+        .Instance = I2C1_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C1_TX_DMA_IRQ,                 \
+        .channel = I2C1_TX_DMA_CHANNEL              \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C1_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C1_TX_DMA_RCC,                 \
+        .Instance = I2C1_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C1_TX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C1_TX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C1_TX_DMA_CONFIG */
+#endif /* BSP_I2C1_TX_USING_DMA */
+
+#ifdef BSP_I2C1_RX_USING_DMA
+#ifndef I2C1_RX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C1_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C1_RX_DMA_RCC,                 \
+        .Instance = I2C1_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C1_RX_DMA_IRQ,                 \
+        .channel = I2C1_RX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C1_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C1_RX_DMA_RCC,                 \
+        .Instance = I2C1_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C1_RX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C1_RX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C1_RX_DMA_CONFIG */
+#endif /* BSP_I2C1_RX_USING_DMA */
+
+#ifdef BSP_USING_HARD_I2C2
+#ifndef I2C2_BUS_CONFIG
+#define I2C2_BUS_CONFIG                             \
+    {                                               \
+        .Instance = I2C2,                           \
+        .timing = 0x307075B1,                       \
+        .timeout = 1000,                            \
+        .name = "hwi2c2",                           \
+        .evirq_type = I2C2_EV_IRQn,                 \
+        .erirq_type = I2C2_ER_IRQn,                 \
+    }
+#endif /* I2C2_BUS_CONFIG */
+#endif /* BSP_USING_HARD_I2C2 */
+
+#ifdef BSP_I2C2_TX_USING_DMA
+#ifndef I2C2_TX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C2_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C2_TX_DMA_RCC,                 \
+        .Instance = I2C2_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C2_TX_DMA_IRQ,                 \
+        .channel = I2C2_TX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C2_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C2_TX_DMA_RCC,                 \
+        .Instance = I2C2_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C2_TX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C2_TX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C2_TX_DMA_CONFIG */
+#endif /* BSP_I2C2_TX_USING_DMA */
+
+#ifdef BSP_I2C2_RX_USING_DMA
+#ifndef I2C2_RX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C2_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C2_RX_DMA_RCC,                 \
+        .Instance = I2C2_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C2_RX_DMA_IRQ,                 \
+        .channel = I2C2_RX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C2_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C2_RX_DMA_RCC,                 \
+        .Instance = I2C2_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C2_RX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C2_RX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C2_RX_DMA_CONFIG */
+#endif /* BSP_I2C2_RX_USING_DMA */
+
+#ifdef BSP_USING_HARD_I2C3
+#ifndef I2C3_BUS_CONFIG
+#define I2C3_BUS_CONFIG                             \
+    {                                               \
+        .Instance = I2C3,                           \
+        .timing = 0x307075B1,                       \
+        .timeout = 1000,                            \
+        .name = "hwi2c3",                           \
+        .evirq_type = I2C3_EV_IRQn,                 \
+        .erirq_type = I2C3_ER_IRQn,                 \
+    }
+#endif /* I2C3_BUS_CONFIG */
+#endif /* BSP_USING_HARD_I2C3 */
+
+#ifdef BSP_I2C3_TX_USING_DMA
+#ifndef I2C3_TX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C3_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C3_TX_DMA_RCC,                 \
+        .Instance = I2C3_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C3_TX_DMA_IRQ,                 \
+        .channel = I2C3_TX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C3_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C3_TX_DMA_RCC,                 \
+        .Instance = I2C3_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C3_TX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C3_TX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C3_TX_DMA_CONFIG */
+#endif /* BSP_I2C3_TX_USING_DMA */
+
+#ifdef BSP_I2C3_RX_USING_DMA
+#ifndef I2C3_RX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C3_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C3_RX_DMA_RCC,                 \
+        .Instance = I2C3_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C3_RX_DMA_IRQ,                 \
+        .channel = I2C3_RX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C3_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C3_RX_DMA_RCC,                 \
+        .Instance = I2C3_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C3_RX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C3_RX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C3_RX_DMA_CONFIG */
+#endif /* BSP_I2C3_RX_USING_DMA */
+
+#ifdef BSP_USING_HARD_I2C4
+#ifndef I2C4_BUS_CONFIG
+#define I2C4_BUS_CONFIG                             \
+    {                                               \
+        .Instance = I2C4,                           \
+        .timing = 0x307075B1,                       \
+        .timeout = 1000,                            \
+        .name = "hwi2c4",                           \
+        .evirq_type = I2C4_EV_IRQn,                 \
+        .erirq_type = I2C4_ER_IRQn,                 \
+    }
+#endif /* I2C4_BUS_CONFIG */
+#endif /* BSP_USING_HARD_I2C4 */
+
+#ifdef BSP_I2C4_TX_USING_DMA
+#ifndef I2C4_TX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C4_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_TX_DMA_RCC,                 \
+        .Instance = I2C4_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_TX_DMA_IRQ,                 \
+        .channel = I2C4_TX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C4_TX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_TX_DMA_RCC,                 \
+        .Instance = I2C4_TX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_TX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C4_TX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C4_TX_DMA_CONFIG */
+#endif /* BSP_I2C4_TX_USING_DMA */
+
+#ifdef BSP_I2C4_RX_USING_DMA
+#ifndef I2C4_RX_DMA_CONFIG
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+#define I2C4_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_RX_DMA_RCC,                 \
+        .Instance = I2C4_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_RX_DMA_IRQ,                 \
+        .channel = I2C4_RX_DMA_CHANNEL,             \
+    }
+#elif defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32G0) || defined(SOC_SERIES_STM32MP1) || defined(SOC_SERIES_STM32WB) || defined(SOC_SERIES_STM32H7)
+#define I2C4_RX_DMA_CONFIG                          \
+    {                                               \
+        .dma_rcc = I2C4_RX_DMA_RCC,                 \
+        .Instance = I2C4_RX_DMA_INSTANCE,           \
+        .dma_irq = I2C4_RX_DMA_IRQ,                 \
+        .request = DMA_REQUEST_I2C4_RX              \
+    }
+#endif /* defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7) */
+#endif /* I2C4_RX_DMA_CONFIG */
+#endif /* BSP_I2C4_RX_USING_DMA */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__I2C_HARD_CONFIG_H__ */
diff --git a/bsp/stm32/libraries/HAL_Drivers/drivers/drv_config.h b/bsp/stm32/libraries/HAL_Drivers/drivers/drv_config.h
index ddd665ac491..a95d43f040c 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drivers/drv_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/drivers/drv_config.h
@@ -127,6 +127,7 @@ extern "C" {
 #include "h7/sdio_config.h"
 #include "h7/pwm_config.h"
 #include "h7/usbd_config.h"
+#include "h7/i2c_hard_config.h"
 
 #elif  defined(SOC_SERIES_STM32H7RS)
 #include "h7/dma_config.h"