diff --git a/radio/src/audio.h b/radio/src/audio.h
index 3dbfc5911..ac356863a 100644
--- a/radio/src/audio.h
+++ b/radio/src/audio.h
@@ -588,8 +588,6 @@ void audioTimerCountdown(uint8_t timer, int value);
 #define AUDIO_TRAINER_LOST()     audioEvent(AU_TRAINER_LOST)
 #define AUDIO_TRAINER_BACK()     audioEvent(AU_TRAINER_BACK)
 
-#define AUDIO_HEARTBEAT()
-
 enum AutomaticPromptsCategories {
   SYSTEM_AUDIO_CATEGORY,
   MODEL_AUDIO_CATEGORY,
diff --git a/radio/src/debounce.h b/radio/src/debounce.h
new file mode 100644
index 000000000..f7b1559bc
--- /dev/null
+++ b/radio/src/debounce.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program 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.
+ */
+
+#ifndef _DEBOUNCE_H_
+#define _DEBOUNCE_H_
+
+#include "board.h"
+
+template <class T>
+class Debounce
+{
+  public:
+    T debounce(T state)
+    {
+      if (state == lastState)
+        debouncedState = state;
+      else
+        lastState = state;
+      return debouncedState;
+    }
+
+  private:
+    T lastState;
+    T debouncedState;
+};
+
+#if defined(STM32)
+class PinDebounce: public Debounce<uint8_t>
+{
+  public:
+    uint8_t debounce(GPIO_TypeDef * GPIOx, uint16_t GPIO_Pin)
+    {
+      return Debounce<uint8_t>::debounce(GPIO_ReadInputDataBit(GPIOx, GPIO_Pin));
+    }
+};
+#endif
+
+#endif // _DEBOUNCE_H_
diff --git a/radio/src/opentx.h b/radio/src/opentx.h
index 6ca4173cc..918cb6822 100644
--- a/radio/src/opentx.h
+++ b/radio/src/opentx.h
@@ -28,6 +28,7 @@
 #include <math.h>
 #include "definitions.h"
 #include "opentx_types.h"
+#include "debounce.h"
 
 #if defined(STM32)
 #include "usbd_conf.h"
@@ -542,8 +543,6 @@ bool setTrimValue(uint8_t phase, uint8_t idx, int trim);
 
 #if defined(PCBSKY9X)
   #define ROTARY_ENCODER_GRANULARITY (2 << g_eeGeneral.rotarySteps)
-#elif defined(PCBHORUS)
-  #define ROTARY_ENCODER_GRANULARITY (1)
 #else
   #define ROTARY_ENCODER_GRANULARITY (2)
 #endif
diff --git a/radio/src/targets/common/arm/stm32/bootloader/boot.cpp b/radio/src/targets/common/arm/stm32/bootloader/boot.cpp
index 0663ef223..f1421abef 100644
--- a/radio/src/targets/common/arm/stm32/bootloader/boot.cpp
+++ b/radio/src/targets/common/arm/stm32/bootloader/boot.cpp
@@ -201,7 +201,7 @@ int main()
                          AUX_SERIAL_RCC_AHB1Periph | I2C_RCC_AHB1Periph |
                          SD_RCC_AHB1Periph, ENABLE);
 
-  RCC_APB1PeriphClockCmd(LCD_RCC_APB1Periph | BACKLIGHT_RCC_APB1Periph |
+  RCC_APB1PeriphClockCmd(ROTARY_ENCODER_RCC_APB1Periph | LCD_RCC_APB1Periph | BACKLIGHT_RCC_APB1Periph |
                          INTERRUPT_xMS_RCC_APB1Periph | I2C_RCC_APB1Periph |
                          AUX_SERIAL_RCC_APB1Periph |
                          SD_RCC_APB1Periph, ENABLE);
diff --git a/radio/src/targets/common/arm/stm32/rotary_encoder_driver.cpp b/radio/src/targets/common/arm/stm32/rotary_encoder_driver.cpp
index ea94cdaaf..b8d06a03a 100644
--- a/radio/src/targets/common/arm/stm32/rotary_encoder_driver.cpp
+++ b/radio/src/targets/common/arm/stm32/rotary_encoder_driver.cpp
@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-uint32_t rotencPosition;
+uint8_t rotencPosition;
 
 void rotaryEncoderInit()
 {
@@ -56,19 +56,29 @@ void rotaryEncoderInit()
 #endif
 
   rotencPosition = ROTARY_ENCODER_POSITION();
+
+  ROTARY_ENCODER_TIMER->ARR = 99; // 100uS
+  ROTARY_ENCODER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 1000000 - 1; // 1uS
+  ROTARY_ENCODER_TIMER->CCER = 0;
+  ROTARY_ENCODER_TIMER->CCMR1 = 0;
+  ROTARY_ENCODER_TIMER->EGR = 0;
+  ROTARY_ENCODER_TIMER->CR1 = 0;
+  ROTARY_ENCODER_TIMER->DIER |= TIM_DIER_UIE;
+  NVIC_EnableIRQ(ROTARY_ENCODER_TIMER_IRQn);
+  NVIC_SetPriority(ROTARY_ENCODER_TIMER_IRQn, 7);
 }
 
 void rotaryEncoderCheck()
 {
-  uint32_t newpos = ROTARY_ENCODER_POSITION();
-  if (newpos != rotencPosition && !keyState(KEY_ENTER)) {
-    if ((rotencPosition & 0x01) ^ ((newpos & 0x02) >> 1)) {
+  uint8_t newPosition = ROTARY_ENCODER_POSITION();
+  if (newPosition != rotencPosition && !keyState(KEY_ENTER)) {
+    if ((rotencPosition & 0x01) ^ ((newPosition & 0x02) >> 1)) {
       --rotencValue;
     }
     else {
       ++rotencValue;
     }
-    rotencPosition = newpos;
+    rotencPosition = newPosition;
 #if !defined(BOOT)
     if (g_eeGeneral.backlightMode & e_backlight_mode_keys) {
       backlightOn();
@@ -77,16 +87,21 @@ void rotaryEncoderCheck()
   }
 }
 
+void rotaryEncoderStartDelay()
+{
+  ROTARY_ENCODER_TIMER->CR1 = TIM_CR1_CEN | TIM_CR1_URS;
+}
+
 extern "C" void ROTARY_ENCODER_EXTI_IRQHandler1(void)
 {
   if (EXTI_GetITStatus(ROTARY_ENCODER_EXTI_LINE1) != RESET) {
-    rotaryEncoderCheck();
+    rotaryEncoderStartDelay();
     EXTI_ClearITPendingBit(ROTARY_ENCODER_EXTI_LINE1);
   }
 
 #if !defined(ROTARY_ENCODER_EXTI_IRQn2)
   if (EXTI_GetITStatus(ROTARY_ENCODER_EXTI_LINE2) != RESET) {
-    rotaryEncoderCheck();
+    rotaryEncoderStartDelay();
     EXTI_ClearITPendingBit(ROTARY_ENCODER_EXTI_LINE2);
   }
 #endif
@@ -100,8 +115,15 @@ extern "C" void ROTARY_ENCODER_EXTI_IRQHandler1(void)
 extern "C" void ROTARY_ENCODER_EXTI_IRQHandler2(void)
 {
   if (EXTI_GetITStatus(ROTARY_ENCODER_EXTI_LINE2) != RESET) {
-    rotaryEncoderCheck();
+    rotaryEncoderStartDelay();
     EXTI_ClearITPendingBit(ROTARY_ENCODER_EXTI_LINE2);
   }
 }
 #endif
+
+extern "C" void ROTARY_ENCODER_TIMER_IRQHandler(void)
+{
+  ROTARY_ENCODER_TIMER->SR &= ~TIM_SR_UIF;
+  ROTARY_ENCODER_TIMER->CR1 = 0;
+  rotaryEncoderCheck();
+}
\ No newline at end of file
diff --git a/radio/src/targets/common/arm/stm32/timers_driver.cpp b/radio/src/targets/common/arm/stm32/timers_driver.cpp
new file mode 100644
index 000000000..f25cf483b
--- /dev/null
+++ b/radio/src/targets/common/arm/stm32/timers_driver.cpp
@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program 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.
+ */
+
+#include "opentx.h"
+
+// Start TIMER at 2000000Hz
+void init2MhzTimer()
+{
+  TIMER_2MHz_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5 uS, 2 MHz
+  TIMER_2MHz_TIMER->ARR = 65535;
+  TIMER_2MHz_TIMER->CR2 = 0;
+  TIMER_2MHz_TIMER->CR1 = TIM_CR1_CEN;
+}
+
+// Start TIMER at 200Hz
+void init5msTimer()
+{
+  INTERRUPT_xMS_TIMER->ARR = 4999; // 5mS in uS
+  INTERRUPT_xMS_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 1000000 - 1;  // 1uS
+  INTERRUPT_xMS_TIMER->CCER = 0;
+  INTERRUPT_xMS_TIMER->CCMR1 = 0;
+  INTERRUPT_xMS_TIMER->EGR = 0;
+  INTERRUPT_xMS_TIMER->CR1 = TIM_CR1_CEN | TIM_CR1_URS;
+  INTERRUPT_xMS_TIMER->DIER |= TIM_DIER_UIE;
+  NVIC_EnableIRQ(INTERRUPT_xMS_IRQn);
+  NVIC_SetPriority(INTERRUPT_xMS_IRQn, 7);
+}
+
+void stop5msTimer()
+{
+  INTERRUPT_xMS_TIMER->CR1 = 0 ;        // stop timer
+  NVIC_DisableIRQ(INTERRUPT_xMS_IRQn) ;
+}
+
+// TODO use the same than board_sky9x.cpp
+void interrupt5ms()
+{
+  static uint8_t pre_scale;       // Used to get 10 Hz counter
+
+  ++pre_scale;
+
+#if defined(HAPTIC)
+  DEBUG_TIMER_START(debugTimerHaptic);
+  HAPTIC_HEARTBEAT();
+  DEBUG_TIMER_STOP(debugTimerHaptic);
+#endif
+
+  if (pre_scale == 2) {
+    pre_scale = 0;
+    DEBUG_TIMER_START(debugTimerPer10ms);
+    DEBUG_TIMER_SAMPLE(debugTimerPer10msPeriod);
+    per10ms();
+    DEBUG_TIMER_STOP(debugTimerPer10ms);
+  }
+}
+
+extern "C" void INTERRUPT_xMS_IRQHandler()
+{
+  INTERRUPT_xMS_TIMER->SR &= ~TIM_SR_UIF;
+  interrupt5ms();
+  DEBUG_INTERRUPT(INT_1MS);
+}
diff --git a/radio/src/targets/common/arm/stm32/usb_driver.cpp b/radio/src/targets/common/arm/stm32/usb_driver.cpp
index e47774623..7e2c5abf1 100644
--- a/radio/src/targets/common/arm/stm32/usb_driver.cpp
+++ b/radio/src/targets/common/arm/stm32/usb_driver.cpp
@@ -49,23 +49,8 @@ void setSelectedUsbMode(int mode)
 
 int usbPlugged()
 {
-  // debounce
-  static uint8_t debounced_state = 0;
-  static uint8_t last_state = 0;
-
-  if (GPIO_ReadInputDataBit(USB_GPIO, USB_GPIO_PIN_VBUS)) {
-    if (last_state) {
-      debounced_state = 1;
-    }
-    last_state = 1;
-  }
-  else {
-    if (!last_state) {
-      debounced_state = 0;
-    }
-    last_state = 0;
-  }
-  return debounced_state;
+  static PinDebounce debounce;
+  return debounce.debounce(USB_GPIO, USB_GPIO_PIN_VBUS);
 }
 
 USB_OTG_CORE_HANDLE USB_OTG_dev;
diff --git a/radio/src/targets/horus/CMakeLists.txt b/radio/src/targets/horus/CMakeLists.txt
index 14fd9c4e9..e94df176b 100644
--- a/radio/src/targets/horus/CMakeLists.txt
+++ b/radio/src/targets/horus/CMakeLists.txt
@@ -128,6 +128,7 @@ set(TARGET_SRC
   led_driver.cpp
   extmodule_driver.cpp
   trainer_driver.cpp
+  ../common/arm/stm32/timers_driver.cpp
   ../common/arm/stm32/intmodule_serial_driver.cpp
   ../common/arm/stm32/bluetooth_driver.cpp
   ../common/arm/stm32/rotary_encoder_driver.cpp
diff --git a/radio/src/targets/horus/board.cpp b/radio/src/targets/horus/board.cpp
index c30c9b8ff..51b22889a 100644
--- a/radio/src/targets/horus/board.cpp
+++ b/radio/src/targets/horus/board.cpp
@@ -41,60 +41,6 @@ void watchdogInit(unsigned int duration)
   IWDG->KR = 0xCCCC;      // start
 }
 
-// Start TIMER7 at 2000000Hz
-void init2MhzTimer()
-{
-  TIMER_2MHz_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5 uS, 2 MHz
-  TIMER_2MHz_TIMER->ARR = 65535;
-  TIMER_2MHz_TIMER->CR2 = 0;
-  TIMER_2MHz_TIMER->CR1 = TIM_CR1_CEN;
-}
-
-// Starts TIMER at 1000Hz
-void init1msTimer()
-{
-  INTERRUPT_xMS_TIMER->ARR = 999; // 1mS in uS
-  INTERRUPT_xMS_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 1000000 - 1;  // 1uS
-  INTERRUPT_xMS_TIMER->CCER = 0;
-  INTERRUPT_xMS_TIMER->CCMR1 = 0;
-  INTERRUPT_xMS_TIMER->EGR = 0;
-  INTERRUPT_xMS_TIMER->CR1 = 5;
-  INTERRUPT_xMS_TIMER->DIER |= 1;
-  NVIC_EnableIRQ(INTERRUPT_xMS_IRQn);
-  NVIC_SetPriority(INTERRUPT_xMS_IRQn, 7);
-}
-
-// TODO use the same than board_sky9x.cpp
-void interrupt1ms()
-{
-  static uint8_t pre_scale;       // Used to get 10 Hz counter
-
-  ++pre_scale;
-
-#if defined(HAPTIC)
-  if (pre_scale == 5 || pre_scale == 10) {
-    DEBUG_TIMER_START(debugTimerHaptic);
-    HAPTIC_HEARTBEAT();
-    DEBUG_TIMER_STOP(debugTimerHaptic);
-  }
-#endif
-
-  if (pre_scale == 10) {
-    pre_scale = 0;
-    DEBUG_TIMER_START(debugTimerPer10ms);
-    DEBUG_TIMER_SAMPLE(debugTimerPer10msPeriod);
-    per10ms();
-    DEBUG_TIMER_STOP(debugTimerPer10ms);
-  }
-}
-
-extern "C" void INTERRUPT_xMS_IRQHandler()
-{
-  INTERRUPT_xMS_TIMER->SR &= ~TIM_SR_UIF;
-  interrupt1ms();
-  DEBUG_INTERRUPT(INT_1MS);
-}
-
 #if defined(SEMIHOSTING)
 extern "C" void initialise_monitor_handles();
 #endif
@@ -150,7 +96,8 @@ void boardInit()
                          SPORT_UPDATE_RCC_AHB1Periph,
                          ENABLE);
 
-  RCC_APB1PeriphClockCmd(INTERRUPT_xMS_RCC_APB1Periph |
+  RCC_APB1PeriphClockCmd(ROTARY_ENCODER_RCC_APB1Periph |
+                         INTERRUPT_xMS_RCC_APB1Periph |
                          ADC_RCC_APB1Periph |
                          TIMER_2MHz_RCC_APB1Periph |
                          AUDIO_RCC_APB1Periph |
@@ -208,7 +155,7 @@ void boardInit()
   backlightInit();
 
   init2MhzTimer();
-  init1msTimer();
+  init5msTimer();
   usbInit();
   hapticInit();
 
diff --git a/radio/src/targets/horus/board.h b/radio/src/targets/horus/board.h
index ea4d2604e..8eceb5587 100644
--- a/radio/src/targets/horus/board.h
+++ b/radio/src/targets/horus/board.h
@@ -112,6 +112,10 @@ void boardPreInit(void);
 void boardInit(void);
 void boardOff(void);
 
+// Timers driver
+void init2MhzTimer();
+void init5msTimer();
+
 // Delays driver
 #ifdef __cplusplus
 extern "C" {
diff --git a/radio/src/targets/horus/hal.h b/radio/src/targets/horus/hal.h
index b94470799..007fefec7 100644
--- a/radio/src/targets/horus/hal.h
+++ b/radio/src/targets/horus/hal.h
@@ -54,6 +54,7 @@
 #endif
 
 // Rotary Encoder
+#define ROTARY_ENCODER_RCC_APB1Periph   RCC_APB1Periph_TIM4
 #define ROTARY_ENCODER_GPIO             GPIOH
 #define ROTARY_ENCODER_GPIO_PIN_A       GPIO_Pin_11 // PH.11
 #define ROTARY_ENCODER_GPIO_PIN_B       GPIO_Pin_10 // PH.10
@@ -65,6 +66,9 @@
 #define ROTARY_ENCODER_EXTI_PortSource  EXTI_PortSourceGPIOH
 #define ROTARY_ENCODER_EXTI_PinSource1  EXTI_PinSource11
 #define ROTARY_ENCODER_EXTI_PinSource2  EXTI_PinSource10
+#define ROTARY_ENCODER_TIMER            TIM4
+#define ROTARY_ENCODER_TIMER_IRQn       TIM4_IRQn
+#define ROTARY_ENCODER_TIMER_IRQHandler TIM4_IRQHandler
 
 // Switches
 #define STORAGE_SWITCH_A
diff --git a/radio/src/targets/sky9x/board.cpp b/radio/src/targets/sky9x/board.cpp
index 515dc7708..93f96e491 100644
--- a/radio/src/targets/sky9x/board.cpp
+++ b/radio/src/targets/sky9x/board.cpp
@@ -148,7 +148,6 @@ void interrupt5ms()
   static uint32_t pre_scale ;             // Used to get 10 Hz counter
 
   HAPTIC_HEARTBEAT();
-  AUDIO_HEARTBEAT();
 
   if ( ++pre_scale >= 2 ) {
     BUZZER_HEARTBEAT();
diff --git a/radio/src/targets/taranis/CMakeLists.txt b/radio/src/targets/taranis/CMakeLists.txt
index aca21c142..1d2ccc7c5 100644
--- a/radio/src/targets/taranis/CMakeLists.txt
+++ b/radio/src/targets/taranis/CMakeLists.txt
@@ -253,6 +253,7 @@ set(TARGET_SRC
   backlight_driver.cpp
   extmodule_driver.cpp
   trainer_driver.cpp
+  ../common/arm/stm32/timers_driver.cpp
   ../common/arm/stm32/audio_dac_driver.cpp
   ../common/arm/stm32/adc_driver.cpp
   ../common/arm/stm32/heartbeat_driver.cpp
diff --git a/radio/src/targets/taranis/board.cpp b/radio/src/targets/taranis/board.cpp
index f5704f08b..5bc5def1d 100644
--- a/radio/src/targets/taranis/board.cpp
+++ b/radio/src/targets/taranis/board.cpp
@@ -41,64 +41,6 @@ void watchdogInit(unsigned int duration)
   IWDG->KR = 0xCCCC;      // start
 }
 
-// Starts TIMER at 2MHz
-void init2MhzTimer()
-{
-  TIMER_2MHz_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ;       // 0.5 uS, 2 MHz
-  TIMER_2MHz_TIMER->ARR = 65535;
-  TIMER_2MHz_TIMER->CR2 = 0;
-  TIMER_2MHz_TIMER->CR1 = TIM_CR1_CEN;
-}
-
-// Starts TIMER at 200Hz (5ms)
-void init5msTimer()
-{
-  INTERRUPT_xMS_TIMER->ARR = 4999 ; // 5mS in uS
-  INTERRUPT_xMS_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 1000000 - 1 ; // 1uS
-  INTERRUPT_xMS_TIMER->CCER = 0 ;
-  INTERRUPT_xMS_TIMER->CCMR1 = 0 ;
-  INTERRUPT_xMS_TIMER->EGR = 0 ;
-  INTERRUPT_xMS_TIMER->CR1 = 5 ;
-  INTERRUPT_xMS_TIMER->DIER |= 1 ;
-  NVIC_EnableIRQ(INTERRUPT_xMS_IRQn) ;
-  NVIC_SetPriority(INTERRUPT_xMS_IRQn, 7);
-}
-
-void stop5msTimer( void )
-{
-  INTERRUPT_xMS_TIMER->CR1 = 0 ;        // stop timer
-  NVIC_DisableIRQ(INTERRUPT_xMS_IRQn) ;
-}
-
-// TODO use the same than board_sky9x.cpp
-void interrupt5ms()
-{
-  static uint32_t pre_scale ;       // Used to get 10 Hz counter
-
-  AUDIO_HEARTBEAT();
-
-#if defined(HAPTIC)
-  HAPTIC_HEARTBEAT();
-#endif
-
-  if (++pre_scale >= 2) {
-    pre_scale = 0 ;
-    DEBUG_TIMER_START(debugTimerPer10ms);
-    DEBUG_TIMER_SAMPLE(debugTimerPer10msPeriod);
-    per10ms();
-    DEBUG_TIMER_STOP(debugTimerPer10ms);
-  }
-}
-
-#if !defined(SIMU)
-extern "C" void INTERRUPT_xMS_IRQHandler()
-{
-  INTERRUPT_xMS_TIMER->SR &= ~TIM_SR_UIF ;
-  interrupt5ms() ;
-  DEBUG_INTERRUPT(INT_5MS);
-}
-#endif
-
 #if defined(PWR_BUTTON_PRESS)
   #define PWR_PRESS_DURATION_MIN        100 // 1s
   #define PWR_PRESS_DURATION_MAX        500 // 5s
@@ -160,7 +102,8 @@ void boardInit()
                          GYRO_RCC_AHB1Periph,
                          ENABLE);
 
-  RCC_APB1PeriphClockCmd(LCD_RCC_APB1Periph |
+  RCC_APB1PeriphClockCmd(ROTARY_ENCODER_RCC_APB1Periph |
+                         LCD_RCC_APB1Periph |
                          AUDIO_RCC_APB1Periph |
                          ADC_RCC_APB1Periph |
                          BACKLIGHT_RCC_APB1Periph |
diff --git a/radio/src/targets/taranis/board.h b/radio/src/targets/taranis/board.h
index aca1b8f67..f1a152e2b 100644
--- a/radio/src/targets/taranis/board.h
+++ b/radio/src/targets/taranis/board.h
@@ -124,6 +124,10 @@ void boardPreInit(void);
 void boardInit(void);
 void boardOff(void);
 
+// Timers driver
+void init2MhzTimer();
+void init5msTimer();
+
 // Delays driver
 #ifdef __cplusplus
 extern "C" {
diff --git a/radio/src/targets/taranis/hal.h b/radio/src/targets/taranis/hal.h
index 8c0175408..c9d8c15ef 100644
--- a/radio/src/targets/taranis/hal.h
+++ b/radio/src/targets/taranis/hal.h
@@ -135,6 +135,14 @@
   #define ROTARY_ENCODER_EXTI_PinSource1  EXTI_PinSource10
   #define ROTARY_ENCODER_EXTI_PinSource2  EXTI_PinSource12
 #endif
+#if defined(ROTARY_ENCODER_NAVIGATION)
+  #define ROTARY_ENCODER_RCC_APB1Periph   RCC_APB1Periph_TIM5
+  #define ROTARY_ENCODER_TIMER            TIM5
+  #define ROTARY_ENCODER_TIMER_IRQn       TIM5_IRQn
+  #define ROTARY_ENCODER_TIMER_IRQHandler TIM5_IRQHandler
+#else
+  #define ROTARY_ENCODER_RCC_APB1Periph   0
+#endif
 
 // Trims
 #if defined(PCBX9E)