#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 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);

  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];

  void _set_speed_ch1_ch2_ch9(uint8_t speed);
  void _set_speed_ch3_ch4_ch10(uint8_t speed);
  void _set_speed_ch5_ch6(uint8_t speed);
  void _set_speed_ch7_ch8_ch11(uint8_t speed);

};

#endif