From 19c9528d802b15767799ade5b0eb776063344091 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 7 Oct 2011 10:36:28 -0500
Subject: [PATCH] CopterControl: Create structures to supply more output
 channels

---
 flight/CopterControl/System/pios_board.c | 155 +++++++++++++++++++++++
 1 file changed, 155 insertions(+)

diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 1cf41e5bc..df0076955 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -410,6 +410,145 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
 	},
 };
 
+
+static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = {
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_9,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_8,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_7,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM1,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_8,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_4,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+		.remap = GPIO_PartialRemap_TIM3,
+	},
+	{
+		.timer = TIM2,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_2,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+
+	// Receiver port pins
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_5,
+				.GPIO_Mode  = GPIO_Mode_IPD,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+		.remap = GPIO_PartialRemap_TIM3,
+	},
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_0,
+				.GPIO_Mode  = GPIO_Mode_IPD,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_1,
+				.GPIO_Mode  = GPIO_Mode_IPD,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM2,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_0,
+				.GPIO_Mode  = GPIO_Mode_IPD,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM2,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_1,
+				.GPIO_Mode  = GPIO_Mode_IPD,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+};
 #if defined(PIOS_INCLUDE_USART)
 
 #include "pios_usart_priv.h"
@@ -795,6 +934,22 @@ const struct pios_servo_cfg pios_servo_cfg = {
 	.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
 };
 
+const struct pios_servo_cfg pios_servo_rcvr_cfg = {
+	.tim_oc_init = {
+		.TIM_OCMode = TIM_OCMode_PWM1,
+		.TIM_OutputState = TIM_OutputState_Enable,
+		.TIM_OutputNState = TIM_OutputNState_Disable,
+		.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
+		.TIM_OCPolarity = TIM_OCPolarity_High,
+		.TIM_OCNPolarity = TIM_OCPolarity_High,
+		.TIM_OCIdleState = TIM_OCIdleState_Reset,
+		.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+	},
+	.channels = pios_tim_servoport_rcvrport_pins,
+	.num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
+};
+
+
 /*
  * PPM Inputs
  */