mirror of https://github.com/ArduPilot/ardupilot
44 lines
1018 B
C++
44 lines
1018 B
C++
#ifndef __APM_RC_APM1_H__
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#define __APM_RC_APM1_H__
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#define MIN_PULSEWIDTH 900
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#define MAX_PULSEWIDTH 2100
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#include "APM_RC.h"
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#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
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class APM_RC_APM1 : public APM_RC_Class
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{
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public:
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APM_RC_APM1();
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void Init( Arduino_Mega_ISR_Registry * isr_reg );
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void OutputCh(uint8_t ch, uint16_t pwm);
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uint16_t InputCh(uint8_t ch);
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uint8_t GetState();
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bool setHIL(int16_t v[NUM_CHANNELS]);
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void clearOverride(void);
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void Force_Out(void);
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void SetFastOutputChannels(uint32_t chmask);
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void Force_Out0_Out1(void);
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void Force_Out2_Out3(void);
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void Force_Out6_Out7(void);
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private:
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static void _timer4_capt_cb(void);
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static volatile uint16_t _PWM_RAW[NUM_CHANNELS];
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static volatile uint8_t _radio_status;
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int16_t _HIL_override[NUM_CHANNELS];
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void _set_speed_ch1_ch2_ch9(uint8_t speed);
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void _set_speed_ch3_ch4_ch10(uint8_t speed);
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void _set_speed_ch5_ch6(uint8_t speed);
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void _set_speed_ch7_ch8_ch11(uint8_t speed);
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};
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#endif
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