mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.1 KiB
C++
55 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 MSK_CH_1 (1 << CH_1)
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#define MSK_CH_2 (1 << CH_2)
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#define MSK_CH_3 (1 << CH_3)
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#define MSK_CH_4 (1 << CH_4)
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#define MSK_CH_5 (1 << CH_5)
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#define MSK_CH_6 (1 << CH_6)
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#define MSK_CH_7 (1 << CH_7)
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#define MSK_CH_8 (1 << CH_8)
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#define MSK_CH_9 (1 << CH_9)
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#define MSK_CH_10 (1 << CH_10)
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#define MSK_CH_11 (1 << CH_11)
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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 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 ) = 0;
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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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