UAVCAN: Read servo telemetry over CAN bus and publish to uorb

msg/CMakeLists.txt

@@ -212,6 +212,8 @@ set(msg_files
 	SensorTemp.msg
 	SensorUwb.msg
 	SensorAirflow.msg
+	ServoReport.msg
+	ServoStatus.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg

msg/ServoReport.msg

@@ -0,0 +1,25 @@
+uint64 timestamp					# time since system start (microseconds)
+uint8 servo_actuator_id					# actuator id of current servo (in most cases 1-8)
+uint8 servo_node_id					# Node ID of device on CAN bus
+float32 servo_position					# meter or radian
+float32 servo_force					# Newton or Newton metre
+float32 servo_speed					# meter per second or radian per second
+uint8 servo_power_rating_pct				# 0 - unloaded, 100 - full load
+
+uint8 servo_function					# servo output function
+
+
+float32 servo_temperature				# in kelvin
+uint8 servo_temperature_error_flags
+
+uint8 ERROR_FLAG_OVERHEATING = 1
+uint8 ERROR_FLAG_OVERCOOLING = 2
+
+float32 servo_voltage					# Volts
+float32 servo_current					# Amps
+uint8 servo_power_error_flags
+
+uint8 ERROR_FLAG_OVERVOLTAGE  = 1
+uint8 ERROR_FLAG_UNDERVOLTAGE = 2
+uint8 ERROR_FLAG_OVERCURRENT  = 4
+uint8 ERROR_FLAG_UNDERCURRENT = 8

msg/ServoStatus.msg

@@ -0,0 +1,28 @@
+uint64 timestamp					# time since system start (microseconds)
+uint8 CONNECTED_SERVO_MAX = 8				# The number of SERVOs supported via UAVCAN
+
+uint8 SERVO_CONNECTION_TYPE_PPM = 0			# Traditional PPM SERVO
+uint8 SERVO_CONNECTION_TYPE_SERIAL = 1			# Serial Bus connected SERVO
+uint8 SERVO_CONNECTION_TYPE_ONESHOT = 2			# One Shot PPM
+uint8 SERVO_CONNECTION_TYPE_I2C = 3			# I2C
+uint8 SERVO_CONNECTION_TYPE_CAN = 4			# CAN-Bus
+uint8 SERVO_CONNECTION_TYPE_DSHOT = 5			# DShot
+
+uint16 counter  					# incremented by the writing thread everytime new data is stored
+uint16 temperature_counter 				# Incremented when new temperature data is stored
+uint16 power_counter 					# Incremented when new power data is stored
+uint8 servo_count					# number of connected servo's
+
+uint8 servo_connectiontype				# how SERVOs connected to the system. Currently only CAN supports servo telemtry
+
+uint8 servo_online_flags				# Bitmask indicating which SERVO is online/offline
+# servo_online_flags bit 0 : Set to 1 if SERVO0 is online
+# servo_online_flags bit 1 : Set to 1 if SERVO1 is online
+# servo_online_flags bit 2 : Set to 1 if SERVO2 is online
+# servo_online_flags bit 3 : Set to 1 if SERVO3 is online
+# servo_online_flags bit 4 : Set to 1 if SERVO4 is online
+# servo_online_flags bit 5 : Set to 1 if SERVO5 is online
+# servo_online_flags bit 6 : Set to 1 if SERVO6 is online
+# servo_online_flags bit 7 : Set to 1 if SERVO7 is online
+
+ServoReport[8] servo