From f2df171fddc46f0082220d8dcaac68e9f1afb532 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 10 Apr 2018 16:15:23 +1000
Subject: [PATCH] HAL_ChibiOS: fixed DSM input on fmuv4

---
 libraries/AP_HAL_ChibiOS/RCInput.cpp           |  8 ++++++++
 libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat | 13 +++++++++++--
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index c0f2fee98d..15825d71c1 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -213,8 +213,16 @@ void RCInput::_timer_tick(void)
     // and a timeout for the last valid input to handle failsafe
 }
 
+/*
+  start a bind operation, if supported
+ */
 bool RCInput::rc_bind(int dsmMode)
 {
+#if HAL_USE_ICU == TRUE
+    // ask AP_RCProtocol to start a bind
+    rcin_prot.start_bind();
+#endif
+    
 #ifdef HAL_RCINPUT_WITH_AP_RADIO
     if (radio) {
         radio->start_recv_bind();
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
index 0d871e4b97..62f32bd213 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
@@ -58,7 +58,17 @@ PA14 JTCK-SWCLK SWD
 # PWM output for buzzer
 PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
 
-PB0 INPUT PULLUP # RC Input PPM
+# control of spektrum power pin
+PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
+define HAL_GPIO_SPEKTRUM_PWR 70
+
+# spektrum power is active low
+define HAL_SPEKTRUM_PWR_ENABLED 0
+
+# spektrum RC input pin, used as GPIO for bind for satellite receivers
+PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
+define HAL_GPIO_SPEKTRUM_RC 71
+
 PB1 LED_GREEN OUTPUT GPIO(0)
 PB2 BOOT1 INPUT
 PB3 LED_BLUE OUTPUT GPIO(1)
@@ -135,7 +145,6 @@ PD15 MPU9250_DRDY INPUT
 PE0 UART8_RX UART8
 PE1 UART8_TX UART8
 PE3 VDD_SENSORS_EN OUTPUT HIGH
-PE4 SPEKTRUM_PWR OUTPUT HIGH
 
 # UART7 is debug
 PE7 UART7_RX UART7