mirror of https://github.com/ArduPilot/ardupilot
65 lines
1.1 KiB
C++
65 lines
1.1 KiB
C++
#ifndef __APM_RC_H__
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#define __APM_RC_H__
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#include <inttypes.h>
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// Radio channels
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// Note channels are from 0!
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#define CH_9 8
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#define CH_10 9
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#define CH_11 10
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#define NUM_CHANNELS 8
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class Arduino_Mega_ISR_Registry;
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class APM_RC_Class
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{
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public:
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virtual void Init( Arduino_Mega_ISR_Registry * isr_reg ) = 0;
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virtual void OutputCh(uint8_t ch, uint16_t pwm) = 0;
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virtual uint16_t OutputCh_current(uint8_t ch) = 0;
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virtual uint16_t InputCh(uint8_t ch) = 0;
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virtual uint8_t GetState() = 0;
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virtual void clearOverride(void) = 0;
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virtual void Force_Out() = 0;
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virtual void SetFastOutputChannels( uint32_t channelmask, uint16_t speed_hz = 400 ) = 0;
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virtual void enable_out(uint8_t) = 0;
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virtual void disable_out(uint8_t) = 0;
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virtual void Force_Out0_Out1(void) = 0;
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virtual void Force_Out2_Out3(void) = 0;
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virtual void Force_Out6_Out7(void) = 0;
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protected:
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uint16_t _map_speed(uint16_t speed_hz) { return 2000000UL / speed_hz; }
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};
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#include "APM_RC_APM1.h"
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#include "APM_RC_APM2.h"
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#endif
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