MultiWii

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void setupRx() {
#ifdef TEENSYP
  pinMode(PIN_B0,INPUT);
  pinMode(PIN_B1,INPUT);
  pinMode(PIN_B2,INPUT);
  pinMode(PIN_B3,INPUT);
  pinMode(PIN_B4,INPUT);

  PCICR |= (1<<PCIE0);
  PCMSK0 = (1<<PCINT0) |
    (1<<PCINT1) |
    (1<<PCINT2) |
    (1<<PCINT3) |
    (1<<PCINT4) ;
#else
  pinMode(2, INPUT); // 3 is used for esc
  pinMode(4, INPUT);
  pinMode(5, INPUT);
  pinMode(6, INPUT);
  pinMode(7, INPUT);
  // interrupt on pin change PCINT
  PCICR |= (1 << PCIE2);

  PCMSK2 = (1 << PCINT18) | // pin2
  (1 << PCINT20) | // pin4
  (1 << PCINT21) | // pin5
  (1 << PCINT22) | // pin6
  (1 << PCINT23) ; // pin7 // not need if you don't use RXDIRECT
#endif
  for(int i=0;i<MAXCHANIN;i++)
    rawIn[i]=CENTER;
}

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  #define SERVO_5_PINMODE   DDRD |= (1<<7); // 6
  #define SERVO_5_PIN_HIGH  PORTD |= 1<<7;
  #define SERVO_5_PIN_LOW   PORTD &= ~(1<<7);
  #define SERVO_6_PINMODE   DDRC |= (1<<6); // 5
  #define SERVO_6_PIN_HIGH  PORTC|= 1<<6;
  #define SERVO_7_PIN_LOW   PORTC &= ~(1<<6);

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  #define SERVO_5_PINMODE   DDRC |= (1<<6); // 5
  #define SERVO_5_PIN_HIGH  PORTC|= 1<<6;
  #define SERVO_5_PIN_LOW   PORTC &= ~(1<<6);
  #define SERVO_6_PINMODE   DDRD |= (1<<7); // 6
  #define SERVO_6_PIN_HIGH  PORTD |= 1<<7;
  #define SERVO_6_PIN_LOW   PORTD &= ~(1<<7);

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 if(port == 0) return T_USB_Available(USB_CDC_RX);

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 if(port == 0) return T_USB_Available();

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#if defined(NANOWII)
  #define MPU6050
  #define ACC_ORIENTATION(X, Y, Z)  {accADC[ROLL]  = -Y; accADC[PITCH]  =  X; accADC[YAW]  =  Z;}
  #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -X; gyroADC[PITCH] = -Y; gyroADC[YAW] = -Z;}
  #undef INTERNAL_I2C_PULLUPS
  // move motor 7 & 8 to pin 4 & A2
  #define SOFT_PWM_3_PIN_HIGH        PORTD |= 1<<4;
  #define SOFT_PWM_3_PIN_LOW         PORTD &= ~(1<<4);
  #define SOFT_PWM_4_PIN_HIGH        PORTF |= 1<<5;
  #define SOFT_PWM_4_PIN_LOW         PORTF &= ~(1<<5);
  #define SW_PWM_P3                  4        
  #define SW_PWM_P4                  A2
  #define HWPWM6
  // move servo 3 & 4 to pin 12 & 11
  #define SERVO_3_PINMODE   DDRD |= (1<<6); // 12
  #define SERVO_3_PIN_HIGH  PORTD |= 1<<6;
  #define SERVO_3_PIN_LOW   PORTD &= ~(1<<6);
  #define SERVO_4_PINMODE   DDRB |= (1<<7); // 11
  #define SERVO_4_PIN_HIGH  PORTB |= 1<<7;
  #define SERVO_4_PIN_LOW   PORTB &= ~(1<<7);
  // use pin 4 as status LED output if we have no octo
  #if !defined(OCTOX8) && !defined(OCTOFLATP) && !defined(OCTOFLATX)
    #define LEDPIN_PINMODE             DDRD |= (1<<4);            //D4 to output
    #define LEDPIN_TOGGLE              PIND |= (1<<5)|(1<<4);     //switch LEDPIN state (Port D5) & pin D4
    #define LEDPIN_OFF                 PORTD |= (1<<5); PORTD &= ~(1<<4);
    #define LEDPIN_ON                  PORTD &= ~(1<<5); PORTD |= (1<<4);  
  #endif
#endif