From 9216570d6c782b983e1d2671af4d381eb79a20b2 Mon Sep 17 00:00:00 2001
From: richardclli <richard.li@ces.hk>
Date: Sun, 26 Feb 2023 20:27:37 +0800
Subject: [PATCH] feat: Flysky gimbal support for RM Boxer (#3139)

* Adds Flysky digital hall gimbal support for RadioMaster Boxer.

---------

Co-authored-by: rotorman <risto.koiva@web.de>
---
 radio/src/gui/128x64/radio_calibration.cpp    | 41 +++++++++++++------
 radio/src/gui/128x64/radio_diaganas.cpp       | 16 +++++++-
 radio/src/gui/colorlcd/hw_inputs.cpp          |  2 +-
 radio/src/gui/colorlcd/radio_diaganas.cpp     |  8 ++--
 radio/src/hal/adc_driver.cpp                  |  6 +--
 radio/src/hal/adc_driver.h                    |  4 ++
 .../targets/common/arm/stm32/CMakeLists.txt   |  7 ++++
 .../common/arm/stm32/stm32_hal_adc.cpp        | 28 ++++++++-----
 radio/src/targets/horus/CMakeLists.txt        |  8 ++--
 radio/src/targets/horus/board.cpp             |  8 ++--
 radio/src/targets/nv14/CMakeLists.txt         |  2 +-
 radio/src/targets/taranis/CMakeLists.txt      |  1 +
 radio/src/targets/taranis/board.cpp           | 16 ++++++++
 radio/src/targets/taranis/hal.h               | 20 +++++++++
 14 files changed, 125 insertions(+), 42 deletions(-)

diff --git a/radio/src/gui/128x64/radio_calibration.cpp b/radio/src/gui/128x64/radio_calibration.cpp
index a780f4d78..b813f5339 100644
--- a/radio/src/gui/128x64/radio_calibration.cpp
+++ b/radio/src/gui/128x64/radio_calibration.cpp
@@ -27,7 +27,7 @@
 
 void menuCommonCalib(event_t event)
 {
-  for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++) { // get low and high vals for sticks and trims
+  for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++) { // get low and high values for sticks, pots and sliders
     int16_t vt = anaIn(i);
     reusableBuffer.calib.loVals[i] = min(vt, reusableBuffer.calib.loVals[i]);
     reusableBuffer.calib.hiVals[i] = max(vt, reusableBuffer.calib.hiVals[i]);
@@ -41,12 +41,15 @@ void menuCommonCalib(event_t event)
       if (IS_POT_MULTIPOS(i) && count <= XPOTS_MULTIPOS_COUNT) {
         // use raw analog value for multipos calibraton, anaIn() already has multipos decoded value
         vt = getAnalogValue(i) >> 1;
-        if (reusableBuffer.calib.xpotsCalib[idx].lastCount == 0 || vt < reusableBuffer.calib.xpotsCalib[idx].lastPosition - XPOT_DELTA || vt > reusableBuffer.calib.xpotsCalib[idx].lastPosition + XPOT_DELTA) {
+        if (reusableBuffer.calib.xpotsCalib[idx].lastCount == 0 ||
+                vt < reusableBuffer.calib.xpotsCalib[idx].lastPosition - XPOT_DELTA ||
+                vt > reusableBuffer.calib.xpotsCalib[idx].lastPosition + XPOT_DELTA) {
           reusableBuffer.calib.xpotsCalib[idx].lastPosition = vt;
           reusableBuffer.calib.xpotsCalib[idx].lastCount = 1;
         }
         else {
-          if (reusableBuffer.calib.xpotsCalib[idx].lastCount < 255) reusableBuffer.calib.xpotsCalib[idx].lastCount++;
+          if (reusableBuffer.calib.xpotsCalib[idx].lastCount < 255)
+              reusableBuffer.calib.xpotsCalib[idx].lastCount++;
         }
         if (reusableBuffer.calib.xpotsCalib[idx].lastCount == XPOT_DELAY) {
           int16_t position = reusableBuffer.calib.xpotsCalib[idx].lastPosition;
@@ -99,7 +102,16 @@ void menuCommonCalib(event_t event)
         reusableBuffer.calib.loVals[i] = 15000;
         reusableBuffer.calib.hiVals[i] = -15000;
 #if defined(PCBTARANIS)
-        reusableBuffer.calib.midVals[i] = getAnalogValue(i) >> 1;
+ #if defined(FLYSKY_GIMBAL)
+        if (globalData.flyskygimbals && (i < FIRST_ANALOG_ADC_FS) )
+        {
+          reusableBuffer.calib.midVals[i] = anaIn(i);
+        }
+        else
+ #endif
+        {
+          reusableBuffer.calib.midVals[i] = getAnalogValue(i) >> 1;
+        }
         if (i<NUM_XPOTS) {
           reusableBuffer.calib.xpotsCalib[i].stepsCount = 0;
           reusableBuffer.calib.xpotsCalib[i].lastCount = 0;
@@ -123,9 +135,6 @@ void menuCommonCalib(event_t event)
           g_eeGeneral.calib[i].spanPos = v - v/STICK_TOLERANCE;
         }
       }
-      break;
-
-    case CALIB_STORE:
 #if defined(PCBTARANIS)
       for (uint8_t i=POT1; i<=POT_LAST; i++) {
         int idx = i - POT1;
@@ -145,18 +154,26 @@ void menuCommonCalib(event_t event)
               calib->steps[j] = (reusableBuffer.calib.xpotsCalib[idx].steps[j+1] + reusableBuffer.calib.xpotsCalib[idx].steps[j]) >> 5;
             }
           }
-          else {
+        }
+      }
+#endif
+      break;
+
+    case CALIB_STORE:
 #if defined(RADIO_BOXER)
-            // load 6pos calib with factory data if 6 pos was not manually calibrated
+      for (uint8_t i=POT1; i<=POT_LAST; i++) {
+        int idx = i - POT1;
+        if (IS_POT_MULTIPOS(i)) {
+          int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
+          if (count < XPOTS_MULTIPOS_COUNT)
+          {
+            // load 6-pos calib with factory data if 6-pos was not manually calibrated
             constexpr int16_t factoryValues[]= {0x5,0xd,0x16,0x1f,0x28};
             StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[POT3];
             calib->count = 5;
             for (int j=0; j<calib->count ; j++) {
               calib->steps[j] = factoryValues[j];
             }
-#else
-            g_eeGeneral.potsConfig &= ~(0x03<<(2*idx));
-#endif
           }
         }
       }
diff --git a/radio/src/gui/128x64/radio_diaganas.cpp b/radio/src/gui/128x64/radio_diaganas.cpp
index 5ce3afc46..00ef9f708 100644
--- a/radio/src/gui/128x64/radio_diaganas.cpp
+++ b/radio/src/gui/128x64/radio_diaganas.cpp
@@ -22,12 +22,16 @@
 #include "opentx.h"
 #include "../../hal/adc_driver.h"
 
+#if defined(FLYSKY_GIMBAL)
+ #include "flysky_gimbal_driver.h"
+#endif
+
 #define HOLDANAVALUEFRAMES 4 /* 4* 50ms = 200 ms update rate */
 
 void menuRadioDiagAnalogs(event_t event)
 {
     static int8_t entryCount = 0;
-    static uint16_t lastShownAnalogValue[NUM_STICKS+NUM_POTS+NUM_SLIDERS];
+    static int16_t lastShownAnalogValue[NUM_STICKS+NUM_POTS+NUM_SLIDERS];
 
     enum ANAVIEWS{
        ANAVIEW_FIRST,
@@ -106,7 +110,15 @@ void menuRadioDiagAnalogs(event_t event)
     switch (viewpage) {
       case (ANAVIEW_RAWLOWFPS):
         if (entryCount == 0) {
-          lastShownAnalogValue[i] = getAnalogValue(i); // Update value
+#if defined(FLYSKY_GIMBAL)
+            if (globalData.flyskygimbals && i < FIRST_ANALOG_ADC_FS)
+            {
+              lastShownAnalogValue[i] = hall_raw_values[i];
+            } else
+#endif
+            {
+              lastShownAnalogValue[i] = getAnalogValue(i); // Update value
+            }
         }
         lcdDrawNumber(x+3*FW-1, y, lastShownAnalogValue[i],
                       LEADING0|LEFT, 4);
diff --git a/radio/src/gui/colorlcd/hw_inputs.cpp b/radio/src/gui/colorlcd/hw_inputs.cpp
index db6f43eb8..d2754b5d6 100644
--- a/radio/src/gui/colorlcd/hw_inputs.cpp
+++ b/radio/src/gui/colorlcd/hw_inputs.cpp
@@ -66,7 +66,7 @@ HWPots::HWPots(Window* parent) : FormGroup(parent, rect_t{})
 
   for (int i = 0; i < NUM_POTS; i++) {
     // Display EX3 & EX4 (= last two pots) only when FlySky gimbals are present
-#if !defined(SIMU) && defined(RADIO_FAMILY_T16)
+#if !defined(SIMU) && defined(FLYSKY_GIMBAL)
     if (!globalData.flyskygimbals && (i >= (NUM_POTS - 2))) continue;
 #endif
     auto line = newLine(&grid);
diff --git a/radio/src/gui/colorlcd/radio_diaganas.cpp b/radio/src/gui/colorlcd/radio_diaganas.cpp
index 824c8df5c..1f7a16e4d 100644
--- a/radio/src/gui/colorlcd/radio_diaganas.cpp
+++ b/radio/src/gui/colorlcd/radio_diaganas.cpp
@@ -64,7 +64,7 @@ class AnaCalibratedViewWindow: public Window {
 
     void paint(BitmapBuffer * dc) override
     {
-#if !defined(SIMU) && (defined(RADIO_FAMILY_T16) || defined(PCBNV14))
+#if !defined(SIMU) && defined(FLYSKY_GIMBAL)
         if (globalData.flyskygimbals)
         {
             for (uint8_t i = 0; i < FLYSKY_HALL_CHANNEL_COUNT; i++) {
@@ -258,7 +258,7 @@ class AnaFilteredDevViewWindow: public Window {
             ClearStats = false;
         }
 
-#if !defined(SIMU) && (defined(RADIO_FAMILY_T16) || defined(PCBNV14))
+#if !defined(SIMU) && defined(FLYSKY_GIMBAL)
           if (globalData.flyskygimbals)
           {
               for (uint8_t i = 0; i < FLYSKY_HALL_CHANNEL_COUNT; i++) {
@@ -337,7 +337,7 @@ class AnaUnfilteredRawViewWindow: public Window {
 
     void paint(BitmapBuffer * dc) override
     {
-#if !defined(SIMU) && (defined(RADIO_FAMILY_T16) || defined(PCBNV14))
+#if !defined(SIMU) && defined(FLYSKY_GIMBAL)
         if (globalData.flyskygimbals)
         {
             for (uint8_t i = 0; i < FLYSKY_HALL_CHANNEL_COUNT; i++) {
@@ -460,7 +460,7 @@ class AnaMinMaxViewWindow: public Window {
         }
         dc->drawText(10, 1, STR_ANADIAGS_MOVE, COLOR_THEME_PRIMARY1);
 
-#if !defined(SIMU) && (defined(RADIO_FAMILY_T16) || defined(PCBNV14))
+#if !defined(SIMU) && defined(FLYSKY_GIMBAL)
           if (globalData.flyskygimbals)
           {
               for (uint8_t i = 0; i < FLYSKY_HALL_CHANNEL_COUNT; i++) {
diff --git a/radio/src/hal/adc_driver.cpp b/radio/src/hal/adc_driver.cpp
index 1ad4489d6..33bb58a0e 100644
--- a/radio/src/hal/adc_driver.cpp
+++ b/radio/src/hal/adc_driver.cpp
@@ -134,7 +134,8 @@ bool adcRead()
   uint16_t temp[NUM_ANALOGS] = { 0 };
 
   uint8_t first_analog_adc;
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
+
+#if defined(FLYSKY_GIMBAL)
     if (globalData.flyskygimbals)
     {
         first_analog_adc = FIRST_ANALOG_ADC_FS;
@@ -146,7 +147,6 @@ bool adcRead()
     first_analog_adc = FIRST_ANALOG_ADC;
 #endif
 
-
   for (int i=0; i<4; i++) {
     if (!adcSingleRead())
         return false;
@@ -267,7 +267,7 @@ void getADC()
 
   for (uint8_t x=0; x<NUM_ANALOGS; x++) {
     uint32_t v;
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
+#if defined(FLYSKY_GIMBAL)
     if (globalData.flyskygimbals)
     {
         if (x < 4) {
diff --git a/radio/src/hal/adc_driver.h b/radio/src/hal/adc_driver.h
index 8c27e689b..817e456a6 100644
--- a/radio/src/hal/adc_driver.h
+++ b/radio/src/hal/adc_driver.h
@@ -33,8 +33,12 @@
   #define NUM_ANALOGS_ADC_EXT          (NUM_ANALOGS - NUM_ANALOGS_ADC)
 #else
   #define FIRST_ANALOG_ADC_FS          4
+ #if defined (RADIO_BOXER)
+  #define NUM_ANALOGS_ADC_FS           5
+ #else
   #define NUM_ANALOGS_ADC_FS           10
   #define NUM_ANALOGS_ADC_EXT          2
+ #endif
   #define FIRST_ANALOG_ADC             0
   #define NUM_ANALOGS_ADC              NUM_ANALOGS
 #endif
diff --git a/radio/src/targets/common/arm/stm32/CMakeLists.txt b/radio/src/targets/common/arm/stm32/CMakeLists.txt
index 01628c2c2..5052fc71b 100644
--- a/radio/src/targets/common/arm/stm32/CMakeLists.txt
+++ b/radio/src/targets/common/arm/stm32/CMakeLists.txt
@@ -63,6 +63,13 @@ if(AUX_SERIAL OR AUX2_SERIAL)
   endif()
 endif()
 
+if(FLYSKY_GIMBAL)
+  set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC}
+    ../common/arm/stm32/flysky_gimbal_driver.cpp
+  )
+  add_definitions(-DFLYSKY_GIMBAL)
+endif()
+
 if(DEBUG OR CLI OR USB_SERIAL)
   set(STM32USB_SRC ${STM32USB_SRC}
     STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c
diff --git a/radio/src/targets/common/arm/stm32/stm32_hal_adc.cpp b/radio/src/targets/common/arm/stm32/stm32_hal_adc.cpp
index e6715c5f7..79a6deeec 100644
--- a/radio/src/targets/common/arm/stm32/stm32_hal_adc.cpp
+++ b/radio/src/targets/common/arm/stm32/stm32_hal_adc.cpp
@@ -35,14 +35,16 @@ static void adc_init_pins()
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
 
 #if defined(ADC_GPIOA_PINS)
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
+ #if defined(FLYSKY_GIMBAL)
   if (globalData.flyskygimbals)
   {
       GPIO_InitStructure.GPIO_Pin = ADC_GPIOA_PINS_FS;
   }
   else
-#endif
+ #endif
+  {
       GPIO_InitStructure.GPIO_Pin = ADC_GPIOA_PINS;
+  }
   GPIO_Init(GPIOA, &GPIO_InitStructure);
 #endif
 
@@ -144,7 +146,7 @@ static const stm32_hal_adc_channel* ADC_MAIN_get_channels()
   if (STICKS_PWM_ENABLED())
     return ADC_MAIN_channels + 4;
 #endif
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
+#if defined(FLYSKY_GIMBAL)
   if (globalData.flyskygimbals)
   {
       return ADC_MAIN_channels + FIRST_ANALOG_ADC_FS;
@@ -158,12 +160,16 @@ static const stm32_hal_adc_channel* ADC_MAIN_get_channels()
 
 static uint8_t ADC_MAIN_get_nconv()
 {
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
-    if (globalData.flyskygimbals)
-      return NUM_ANALOGS_ADC_FS;
+#if defined(FLYSKY_GIMBAL)
+  if (globalData.flyskygimbals)
+  {
+    return NUM_ANALOGS_ADC_FS;
+  }
   else
 #endif
-      return NUM_ANALOGS_ADC; // based on STICKS_PWM_ENABLED()
+  {
+    return NUM_ANALOGS_ADC; // based on STICKS_PWM_ENABLED()
+  }
 }
 
 #if defined(ADC_EXT)
@@ -205,7 +211,7 @@ static const stm32_hal_adc_channel* ADC_EXT_get_channels()
 
 static uint16_t* ADC_MAIN_get_dma_buffer()
 {
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
+#if defined(FLYSKY_GIMBAL)
     if (globalData.flyskygimbals)
     {
         return &adcValues[FIRST_ANALOG_ADC_FS];
@@ -220,14 +226,16 @@ static uint16_t* ADC_MAIN_get_dma_buffer()
 #if defined(ADC_EXT) && defined(ADC_EXT_DMA_Stream)
 static uint16_t* ADC_EXT_get_dma_buffer()
 {
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)  
+#if defined(FLYSKY_GIMBAL)
     if (globalData.flyskygimbals)
     {
         return adcValues + NUM_ANALOGS_ADC_FS + FIRST_ANALOG_ADC_FS;
     }
     else
 #endif
-      return adcValues + NUM_ANALOGS_ADC + FIRST_ANALOG_ADC;
+    {
+        return adcValues + NUM_ANALOGS_ADC + FIRST_ANALOG_ADC;
+    }
 }
 #endif
 
diff --git a/radio/src/targets/horus/CMakeLists.txt b/radio/src/targets/horus/CMakeLists.txt
index 84f680bfa..dad86e56f 100644
--- a/radio/src/targets/horus/CMakeLists.txt
+++ b/radio/src/targets/horus/CMakeLists.txt
@@ -93,6 +93,7 @@ if (PCB STREQUAL X10)
       set(AUX2_SERIAL ON)
     endif()
     set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")    
+    set(FLYSKY_GIMBAL ON)
   elseif (PCBREV STREQUAL TX16S)
     set(FLAVOUR tx16s)
     set(LUA_EXPORT lua_export_t16)
@@ -110,6 +111,7 @@ if (PCB STREQUAL X10)
       set(AUX2_SERIAL ON)
     endif()
     set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
+    set(FLYSKY_GIMBAL ON)
   elseif (PCBREV STREQUAL T18)
     set(FLAVOUR t18)
     set(LUA_EXPORT lua_export_t16)
@@ -124,6 +126,7 @@ if (PCB STREQUAL X10)
       set(AUX2_SERIAL ON)
     endif()
     set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")    
+    set(FLYSKY_GIMBAL ON)
   else()
     set(FLAVOUR x10)
     set(DEFAULT_INTERNAL_MODULE XJT_PXX1 CACHE STRING "Default internal module")
@@ -192,10 +195,6 @@ if(HARDWARE_EXTERNAL_ACCESS_MOD)
   add_definitions(-DHARDWARE_EXTERNAL_ACCESS_MOD)
 endif()
 
-if(PCB STREQUAL X10)
-  set(FLYSKY_HALL_STICKS_DRIVER targets/common/arm/stm32/flysky_gimbal_driver.cpp)
-endif()
-
 if(IMU_LSM6DS33)
   add_definitions(-DIMU_LSM6DS33)
   set(AUX_SERIAL OFF)
@@ -288,7 +287,6 @@ set(FIRMWARE_SRC
   targets/common/arm/stm32/heartbeat_driver.cpp
   targets/common/arm/stm32/trainer_driver.cpp
   targets/common/arm/stm32/sdio_sd.c
-  ${FLYSKY_HALL_STICKS_DRIVER}
   )
 
 if(BOOTLOADER)
diff --git a/radio/src/targets/horus/board.cpp b/radio/src/targets/horus/board.cpp
index 42284507d..fe4fbe7d8 100644
--- a/radio/src/targets/horus/board.cpp
+++ b/radio/src/targets/horus/board.cpp
@@ -43,7 +43,7 @@
   #define ADC_DRIVER x12s_adc_driver
 #endif
 
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
+#if defined(FLYSKY_GIMBAL)
   #include "flysky_gimbal_driver.h"
 #endif
 
@@ -75,7 +75,7 @@ void boardInit()
                          AUDIO_RCC_AHB1Periph |
                          KEYS_RCC_AHB1Periph |
                          ADC_RCC_AHB1Periph |
-#if defined(RADIO_FAMILY_T16)
+#if defined(FLYSKY_GIMBAL)
                          FLYSKY_HALL_RCC_AHB1Periph |
 #endif
                          AUX_SERIAL_RCC_AHB1Periph |
@@ -95,7 +95,7 @@ void boardInit()
                          ADC_RCC_APB1Periph |
                          TIMER_2MHz_RCC_APB1Periph |
                          AUDIO_RCC_APB1Periph |
-#if defined(RADIO_FAMILY_T16)
+#if defined(FLYSKY_GIMBAL)
                          FLYSKY_HALL_RCC_APB1Periph |
 #endif
                          TELEMETRY_RCC_APB1Periph |
@@ -158,7 +158,7 @@ void boardInit()
   }
 #endif
 
-#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
+#if defined(FLYSKY_GIMBAL)
   globalData.flyskygimbals = flysky_gimbal_init();
 #else
   globalData.flyskygimbals = false;
diff --git a/radio/src/targets/nv14/CMakeLists.txt b/radio/src/targets/nv14/CMakeLists.txt
index 6db19fb36..bdc34592e 100644
--- a/radio/src/targets/nv14/CMakeLists.txt
+++ b/radio/src/targets/nv14/CMakeLists.txt
@@ -60,6 +60,7 @@ set(HARDWARE_TOUCH YES)
 set(RADIO_DEPENDENCIES ${RADIO_DEPENDENCIES} ${BITMAPS_TARGET})
 
 set(HARDWARE_TOUCH ON)
+set(FLYSKY_GIMBAL ON)
 
 add_definitions(
   -DSTM32F429_439xx -DSTM32F429xx
@@ -156,7 +157,6 @@ set(FIRMWARE_SRC
   targets/common/arm/stm32/trainer_driver.cpp
   targets/common/arm/stm32/pwr_driver.cpp
   targets/common/arm/stm32/sdio_sd.c
-  targets/common/arm/stm32/flysky_gimbal_driver.cpp
   )
 
 # Make malloc() thread-safe
diff --git a/radio/src/targets/taranis/CMakeLists.txt b/radio/src/targets/taranis/CMakeLists.txt
index 448003107..7979f5122 100644
--- a/radio/src/targets/taranis/CMakeLists.txt
+++ b/radio/src/targets/taranis/CMakeLists.txt
@@ -242,6 +242,7 @@ elseif(PCB STREQUAL X7)
     set(PXX2 ON)
     set(ENABLE_SERIAL_PASSTHROUGH ON CACHE BOOL "Enable serial passthrough")
     set(CLI ON CACHE BOOL "Enable CLI")
+    set(FLYSKY_GIMBAL ON)
   elseif(PCBREV STREQUAL ZORRO)
     set(DEFAULT_INTERNAL_MODULE CROSSFIRE CACHE STRING "Default internal module")
     set(INTERNAL_MODULE_SERIAL YES)
diff --git a/radio/src/targets/taranis/board.cpp b/radio/src/targets/taranis/board.cpp
index af305e03a..30ff630a8 100644
--- a/radio/src/targets/taranis/board.cpp
+++ b/radio/src/targets/taranis/board.cpp
@@ -54,6 +54,10 @@ extern "C" {
 }
 #endif
 
+#if defined(FLYSKY_GIMBAL)
+  #include "flysky_gimbal_driver.h"
+#endif
+
 HardwareOptions hardwareOptions;
 
 void watchdogInit(unsigned int duration)
@@ -81,6 +85,9 @@ void boardInit()
                          AUDIO_RCC_AHB1Periph |
                          BACKLIGHT_RCC_AHB1Periph |
                          ADC_RCC_AHB1Periph |
+#if defined(FLYSKY_GIMBAL)
+                         FLYSKY_HALL_RCC_AHB1Periph |
+#endif
                          SD_RCC_AHB1Periph |
                          HAPTIC_RCC_AHB1Periph |
                          INTMODULE_RCC_AHB1Periph |
@@ -97,6 +104,9 @@ void boardInit()
                          LCD_RCC_APB1Periph |
                          AUDIO_RCC_APB1Periph |
                          ADC_RCC_APB1Periph |
+#if defined(FLYSKY_GIMBAL)
+                         FLYSKY_HALL_RCC_APB1Periph |
+#endif
                          BACKLIGHT_RCC_APB1Periph |
                          HAPTIC_RCC_APB1Periph |
                          INTERRUPT_xMS_RCC_APB1Periph |
@@ -213,6 +223,12 @@ void boardInit()
   }
 #endif
 
+#if defined(FLYSKY_GIMBAL)
+  globalData.flyskygimbals = flysky_gimbal_init();
+#else
+  globalData.flyskygimbals = false;
+#endif
+
   if (!adcInit(&stm32_hal_adc_driver))
       TRACE("adcInit failed");
   lcdInit(); // delaysInit() must be called before
diff --git a/radio/src/targets/taranis/hal.h b/radio/src/targets/taranis/hal.h
index 7770ee7f1..788b0b6f0 100644
--- a/radio/src/targets/taranis/hal.h
+++ b/radio/src/targets/taranis/hal.h
@@ -1367,6 +1367,7 @@
   #define ADC_GPIO_PIN_POT3             GPIO_Pin_5  // PA.05
   #define ADC_CHANNEL_POT3              ADC_Channel_5
   #define ADC_GPIOA_PINS                (ADC_GPIO_PIN_STICK_RV | ADC_GPIO_PIN_STICK_RH | ADC_GPIO_PIN_STICK_LH | ADC_GPIO_PIN_STICK_LV | ADC_GPIO_PIN_POT2 | ADC_GPIO_PIN_POT3)
+  #define ADC_GPIOA_PINS_FS             (ADC_GPIO_PIN_STICK_LH | ADC_GPIO_PIN_STICK_LV | ADC_GPIO_PIN_POT2 | ADC_GPIO_PIN_POT3)
 #else
   #define ADC_CHANNEL_POT3              0
   #define ADC_GPIOA_PINS                (ADC_GPIO_PIN_STICK_RV | ADC_GPIO_PIN_STICK_RH | ADC_GPIO_PIN_STICK_LH | ADC_GPIO_PIN_STICK_LV | ADC_GPIO_PIN_POT2)
@@ -2509,6 +2510,25 @@
   #define HAPTIC_GPIO_PIN               GPIO_Pin_12
 #endif
 
+#if defined(RADIO_BOXER)
+  // Flysky Hall Stick
+  #define FLYSKY_HALL_SERIAL_USART                 UART4
+  #define FLYSKY_HALL_SERIAL_GPIO                  GPIOA
+  #define FLYSKY_HALL_DMA_Channel                  LL_DMA_CHANNEL_4
+  #define FLYSKY_HALL_SERIAL_TX_GPIO_PIN           LL_GPIO_PIN_0  // PA.00
+  #define FLYSKY_HALL_SERIAL_RX_GPIO_PIN           LL_GPIO_PIN_1  // PA.01
+  #define FLYSKY_HALL_SERIAL_GPIO_AF               LL_GPIO_AF_8
+
+  #define FLYSKY_HALL_RCC_AHB1Periph               RCC_AHB1Periph_DMA1
+  #define FLYSKY_HALL_RCC_APB1Periph               RCC_APB1Periph_UART4
+
+  #define FLYSKY_HALL_SERIAL_USART_IRQHandler      UART4_IRQHandler
+  #define FLYSKY_HALL_SERIAL_USART_IRQn            UART4_IRQn
+  #define FLYSKY_HALL_SERIAL_DMA                   DMA1
+  #define FLYSKY_HALL_DMA_Stream_RX                LL_DMA_STREAM_2
+  #define FLYSKY_HALL_DMA_Stream_TX                LL_DMA_STREAM_4
+#endif
+
 // Top LCD on X9E
 #if defined(PCBX9E)
   #define TOPLCD_RCC_AHB1Periph         RCC_AHB1Periph_GPIOG