From fb76aa9ca92b4713851f1d2e0da5644761139f51 Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@moreproductive.org>
Date: Mon, 6 Feb 2012 22:11:01 -0800
Subject: [PATCH] APM_RC_APM2: Add support for CH_10 and CH_11

* CH_10 is on APM2 pin A10 (based on A1..A8 convention)
* CH_11 is on APM2 pin A11

* Only the code in enable_out, disable_out, and OutputCh needed to change.

* CH_10 and CH_11 always have an output period of 20ms (50Hz).
---
 libraries/APM_RC/APM_RC_APM2.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/APM_RC/APM_RC_APM2.cpp b/libraries/APM_RC/APM_RC_APM2.cpp
index 2253294990..d0a480a0e9 100644
--- a/libraries/APM_RC/APM_RC_APM2.cpp
+++ b/libraries/APM_RC/APM_RC_APM2.cpp
@@ -122,6 +122,8 @@ void APM_RC_APM2::Init( Arduino_Mega_ISR_Registry * isr_reg )
   //--------------- TIMER5: PPM INPUT ---------------------------------
   // Init PPM input on Timer 5
   pinMode(48, INPUT);  // PPM Input (PL1/ICP5)
+  pinMode(45, OUTPUT); // OUT10 (PL4/OC5B)
+  pinMode(44, OUTPUT); // OUT11 (PL5/OC5C)
 
   // WGM: 1 1 1 1. Fast PWM, TOP is OCR5A
   // COM all disabled.
@@ -153,6 +155,8 @@ void APM_RC_APM2::OutputCh(unsigned char ch, uint16_t pwm)
     case 5:  OCR3C=pwm; break;  // out6
     case 6:  OCR3B=pwm; break;  // out7
     case 7:  OCR3A=pwm; break;  // out8
+    case 9:  OCR5B=pwm; break;  // out10
+    case 10: OCR5C=pwm; break;  // out11
   }
 }
 
@@ -167,6 +171,8 @@ void APM_RC_APM2::enable_out(uint8_t ch)
     case 5: TCCR3A |= (1<<COM3C1); break; // CH_6 : OC3C
     case 6: TCCR3A |= (1<<COM3B1); break; // CH_7 : OC3B
     case 7: TCCR3A |= (1<<COM3A1); break; // CH_8 : OC3A
+    case 9: TCCR5A |= (1<<COM5B1); break; // CH_10 : OC5B
+    case 10: TCCR5A |= (1<<COM5C1); break; // CH_11 : OC5C
   }
 }
 
@@ -181,6 +187,8 @@ void APM_RC_APM2::disable_out(uint8_t ch)
     case 5: TCCR3A &= ~(1<<COM3C1); break; // CH_6 : OC3C
     case 6: TCCR3A &= ~(1<<COM3B1); break; // CH_7 : OC3B
     case 7: TCCR3A &= ~(1<<COM3A1); break; // CH_8 : OC3A
+    case 9: TCCR5A &= ~(1<<COM5B1); break; // CH_10 : OC5B
+    case 10: TCCR5A &= ~(1<<COM5C1); break; // CH_11 : OC5C
   }
 }