ardupilot/libraries/APM_RC/APM_RC_APM1.h

47 lines
1.1 KiB
C++

#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