Add ESC Flasher module files, msg files.

Enable ESC Flasher module in fmu-v6x. It still needs changes to DShot before it works.

msg/CMakeLists.txt

@@ -68,6 +68,9 @@ set(msg_files
 	DistanceSensorModeChangeRequest.msg
 	DronecanNodeStatus.msg
 	Ekf2Timestamps.msg
+	EscFlasherRequest.msg
+	EscFlasherRequestAck.msg
+	EscFlasherStatus.msg
 	EscReport.msg
 	EscStatus.msg
 	EstimatorAidSource1d.msg

msg/EscFlasherRequest.msg

@@ -0,0 +1,16 @@
+uint64 timestamp					# time since system start (microseconds)
+
+uint32 msg_id                                           # Give a unique message identifier so we can compare when getting an ACK
+
+uint8 request                                           # Request type
+# use these items as enum values, they can never change
+uint8 REQUEST_ESC_INFO                             = 0  # Request ESC_INFO from one or more ESCs
+uint8 REQUEST_FLASHING                             = 1  # Request flashing for one or more ESCs
+uint8 REQUEST_CANCEL                               = 2  # Cancel any pending request and return control to DShot
+uint8 REQUEST_FLASHING_COMPLETE                    = 3  # Flashing complete, return control to DShot
+
+uint8 motor_flags                                       # Flags for which motors are being requested
+# motor_flags bit 0 : Set to 1 if ESC0 is being flashed
+# motor_flags bit 1 : Set to 1 if ESC1 is being flashed
+# motor_flags bit 2 : Set to 1 if ESC2 is being flashed
+# motor_flags bit 3 : Set to 1 if ESC3 is being flashed

msg/EscFlasherRequestAck.msg

@@ -0,0 +1,31 @@
+# ESC Flasher Request Acknowledgement uORB message.
+# Used for acknowledging the ESC Flasher command being received.
+# Follows the MAVLink COMMAND_ACK message definition
+
+uint64 timestamp		# time since system start (microseconds)
+
+uint32 msg_id						# Message identifier that we are responding to
+
+uint8 request                                           # Request type
+# use these items as enum values, they can never change
+uint8 REQUEST_ESC_INFO                             = 0  # Request ESC_INFO from one or more ESCs
+uint8 REQUEST_FLASHING                             = 1  # Request flashing for one or more ESCs
+uint8 REQUEST_CANCEL                               = 2  # Cancel any pending request and return control to DShot
+uint8 REQUEST_FLASHING_COMPLETE                    = 3  # Flashing complete, return control to DShot
+
+uint8 result						# Command acknowledge result
+# Result cases. This follows the MAVLink MAV_RESULT enum definition
+uint8 ESC_FLASHER_CMD_RESULT_ACCEPTED = 0		# Command ACCEPTED and EXECUTED |
+uint8 ESC_FLASHER_CMD_RESULT_TEMPORARILY_REJECTED = 1	# Command TEMPORARY REJECTED/DENIED |
+uint8 ESC_FLASHER_CMD_RESULT_DENIED = 2			# Command PERMANENTLY DENIED |
+uint8 ESC_FLASHER_CMD_RESULT_UNSUPPORTED = 3		# Command UNKNOWN/UNSUPPORTED |
+uint8 ESC_FLASHER_CMD_RESULT_FAILED = 4			# Command executed, but failed |
+uint8 ESC_FLASHER_CMD_RESULT_IN_PROGRESS = 5		# Command being executed |
+uint8 ESC_FLASHER_CMD_RESULT_CANCELLED = 6		# Command Canceled
+
+uint8[16] fw_major                                      # Firmware versions major
+uint8[16] fw_minor                                      # Firmware versions minor
+uint16 fw_flags                                         # Bit flags for valid fw versions
+
+uint32[16] gpio_pins                                    # GPIO pin definitions
+uint16 gpio_flags                                       # Bit flags for valid gpio pins

msg/EscFlasherStatus.msg

@@ -0,0 +1,7 @@
+uint64 timestamp # time since system start (microseconds)
+
+bool esc_flashing_in_progress
+
+uint8 version_major
+
+uint8 version_minor