#ifndef __APM_RC_APM1_H__
#define __APM_RC_APM1_H__

#define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100

#include "APM_RC.h"
#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"

class APM_RC_APM1 : public APM_RC_Class
{
public:
    APM_RC_APM1();
    void            Init( Arduino_Mega_ISR_Registry * isr_reg );
    void            OutputCh(uint8_t ch, uint16_t pwm);
    uint16_t        OutputCh_current(uint8_t ch);
    uint16_t        InputCh(uint8_t ch);
    uint8_t         GetState();
    bool            setHIL(int16_t v[NUM_CHANNELS]);
    void            clearOverride(void);
    void            Force_Out(void);
    void            SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz = 400);

    void            enable_out(uint8_t);
    void            disable_out(uint8_t);

    void            Force_Out0_Out1(void);
    void            Force_Out2_Out3(void);
    void            Force_Out6_Out7(void);

private:

    static void                     _timer4_capt_cb(void);

    static volatile uint16_t        _PWM_RAW[NUM_CHANNELS];
    static volatile uint8_t         _radio_status;

    int16_t                         _HIL_override[NUM_CHANNELS];
};

#endif
