fix: PWM gimbals initialisation and inversion (#3745)

* fix: PWM gimbals initialisation and inversion

* feat: add periph clock support in PWM stick driver

radio/src/boards/generic_stm32/analog_inputs.cpp

@@ -22,6 +22,7 @@
 #include "analog_inputs.h"
 #include "stm32_adc.h"
 #include "stm32_spi_adc.h"
+#include "sticks_pwm_driver.h"
 
 #include "hal.h"
 
@@ -38,6 +39,7 @@
 
 // generated files
 #include "stm32_adc_inputs.inc"
+#include "stm32_pwm_inputs.inc"
 #include "hal_adc_inputs.inc"
 
 constexpr uint8_t n_ADC = DIM(_ADC_adc);
@@ -83,3 +85,35 @@ const etx_hal_adc_driver_t _adc_driver = {
   adc_wait_completion
 };
 
+#if defined(PWM_STICKS)
+
+static const stick_pwm_timer_t _sticks_timer = {
+  PWM_GPIO,
+  PWM_GPIOA_PINS,
+  PWM_GPIO_AF,
+  PWM_TIMER,
+  PWM_IRQn,
+};
+
+#if !defined(PWM_IRQHandler)
+  #error "Missing PWM_IRQHandler"
+#endif
+
+extern "C" void PWM_IRQHandler(void)
+{
+  sticks_pwm_isr(&_sticks_timer, _PWM_inputs, DIM(_PWM_inputs));
+}
+
+bool sticksPwmDetect()
+{
+  return sticks_pwm_detect(&_sticks_timer, _PWM_inputs, DIM(_PWM_inputs));
+}
+
+#else
+
+bool sticksPwmDetect()
+{
+  return false;
+}
+
+#endif