//	For GPIO Initialization
void GPIO_Init_Mode_50MHz(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, GPIOMode_TypeDef mode) {
	 GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin;
	GPIO_InitStructure.GPIO_Mode = mode;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOx, &GPIO_InitStructure);
}

void InitTimer5_servoPWM(bool bCH1, bool bCH2){
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;ss

	/* TIM5 clock enable */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);

     /* Time base configuration */
    TIM_TimeBaseStructure.TIM_Prescaler = 63;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = 20000;		// period in usec

    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

    TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);

    /* Output Compare Active Mode configuration: Channel1 */
    TIM_OCStructInit(&TIM_OCInitStructure);
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;


    RCC_AHBPeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	//Timer5_CH1(PA0) Timer5_CH2(PA1)
    if (bCH1) {

    	GPIO_Init_Mode_50MHz(GPIOA, GPIO_Pin_0, GPIO_Mode_AF_PP);
    	/* Output Compare Timing Mode configuration: Channel1 */
    	TIM_OC1Init(TIM5, &TIM_OCInitStructure);
    	TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
    	TIM5->CCR1 = 0;
    }

    if (bCH2) {
    	GPIO_Init_Mode_50MHz(GPIOA, GPIO_Pin_1, GPIO_Mode_AF_PP);
       	/* Output Compare Timing Mode configuration: Channel1 */
    	TIM_OC2Init(TIM5, &TIM_OCInitStructure);
    	TIM_OC2PreloadConfig(TIM5, TIM_OCPreload_Enable);
    	TIM5->CCR2 = 0;
    }

    TIM_ARRPreloadConfig(TIM5, ENABLE);

    // output enable for TIM5 only
    TIM_CtrlPWMOutputs(TIM5, ENABLE);
    TIM_Cmd(TIM5, ENABLE);
 }
 
 // For changing dutycycle
 void SetTimer5PWM(int16_t ch, int16_t pwm) {
	switch(ch) {
	case 1 : TIM5->CCR1 = pwm; break;
	case 2 : TIM5->CCR2 = pwm; break;
	}
}