Move esc_status to generated topics

msg/esc_report.msg

@@ -0,0 +1,11 @@
+uint8 esc_vendor					# Vendor of current ESC
+uint32 esc_errorcount					# Number of reported errors by ESC - if supported
+int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
+float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
+float32 esc_current					# Current measured from current ESC [A] - if supported
+float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
+float32 esc_setpoint					# setpoint of current ESC
+uint16 esc_setpoint_raw					# setpoint of current ESC (Value sent to ESC)
+uint16 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
+uint16 esc_version					# Version of current ESC - if supported
+uint16 esc_state					# State of ESC - depend on Vendor

msg/esc_status.msg

@@ -0,0 +1,19 @@
+uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
+
+uint8 ESC_VENDOR_GENERIC = 0				# generic ESC
+uint8 ESC_VENDOR_MIKROKOPTER = 1			# Mikrokopter
+uint8 ESC_VENDOR_GRAUPNER_HOTT = 2			# Graupner HoTT ESC
+
+uint8 ESC_CONNECTION_TYPE_PPM = 0			# Traditional PPM ESC
+uint8 ESC_CONNECTION_TYPE_SERIAL = 1			# Serial Bus connected ESC
+uint8 ESC_CONNECTION_TYPE_ONESHOOT = 2			# One Shoot PPM
+uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
+uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
+
+uint16 counter  					# incremented by the writing thread everytime new data is stored
+uint64 timestamp 					# in microseconds since system start, is set whenever the writing thread stores new data
+
+uint8 esc_count						# number of connected ESCs
+uint8 esc_connectiontype				# how ESCs connected to the system
+
+esc_report[8] esc

src/drivers/hott/messages.cpp

@@ -111,9 +111,9 @@ publish_gam_message(const uint8_t *buffer)
 	// Publish it.
 	esc.timestamp = hrt_absolute_time();
 	esc.esc_count = 1;
-	esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
+	esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_PPM;
 
-	esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
+	esc.esc[0].esc_vendor = esc_status_s::ESC_VENDOR_GRAUPNER_HOTT;
 	esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
 	esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
 	esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;

src/drivers/mkblctrl/mkblctrl.cpp

@@ -601,11 +601,11 @@ MK::task_main()
 			esc.counter++;
 			esc.timestamp = hrt_absolute_time();
 			esc.esc_count = (uint8_t) _num_outputs;
-			esc.esc_connectiontype = ESC_CONNECTION_TYPE_I2C;
+			esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_I2C;
 
 			for (unsigned int i = 0; i < _num_outputs; i++) {
 				esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
-				esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
+				esc.esc[i].esc_vendor = esc_status_s::ESC_VENDOR_MIKROKOPTER;
 				esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
 				esc.esc[i].esc_voltage = 0.0F;
 				esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;

src/modules/uORB/topics/esc_status.h

@@ -1,116 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Marco Bauer <marco@wtns.de>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file esc_status.h
- * Definition of the esc_status uORB topic.
- *
- * Published the state machine and the system status bitfields
- * (see SYS_STATUS mavlink message), published only by commander app.
- *
- * All apps should write to subsystem_info:
- *
- *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> esc_status --> (mavlink app)
- */
-
-#ifndef ESC_STATUS_H_
-#define ESC_STATUS_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * The number of ESCs supported.
- * Current (Q2/2013) we support 8 ESCs,
- */
-#define CONNECTED_ESC_MAX   8
-
-enum ESC_VENDOR {
-	ESC_VENDOR_GENERIC = 0,					/**< generic ESC */
-	ESC_VENDOR_MIKROKOPTER,					/**< Mikrokopter */
-	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */
-};
-
-enum ESC_CONNECTION_TYPE {
-	ESC_CONNECTION_TYPE_PPM = 0,			/**< Traditional PPM ESC */
-	ESC_CONNECTION_TYPE_SERIAL,			/**< Serial Bus connected ESC */
-	ESC_CONNECTION_TYPE_ONESHOOT,			/**< One Shoot PPM */
-	ESC_CONNECTION_TYPE_I2C,				/**< I2C */
-	ESC_CONNECTION_TYPE_CAN					/**< CAN-Bus */
-};
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Electronic speed controller status.
- * Unsupported float fields should be assigned NaN.
- */
-struct esc_status_s {
-	/* use of a counter and timestamp recommended (but not necessary) */
-
-	uint16_t counter;   		/**< incremented by the writing thread everytime new data is stored */
-	uint64_t timestamp; 		/**< in microseconds since system start, is set whenever the writing thread stores new data */
-
-	uint8_t esc_count;			/**< number of connected ESCs */
-	enum ESC_CONNECTION_TYPE esc_connectiontype;	/**< how ESCs connected to the system */
-
-	struct {
-		enum ESC_VENDOR esc_vendor;		/**< Vendor of current ESC */
-		uint32_t esc_errorcount;		/**< Number of reported errors by ESC - if supported */
-		int32_t esc_rpm;                        /**< Motor RPM, negative for reverse rotation [RPM] - if supported */
-		float esc_voltage;			/**< Voltage measured from current ESC [V] - if supported */
-		float esc_current;			/**< Current measured from current ESC [A] - if supported */
-		float esc_temperature;			/**< Temperature measured from current ESC [degC] - if supported */
-		float esc_setpoint;			/**< setpoint of current ESC */
-		uint16_t esc_setpoint_raw;		/**< setpoint of current ESC (Value sent to ESC) */
-		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
-		uint16_t esc_version;			/**< Version of current ESC - if supported */
-		uint16_t esc_state;			/**< State of ESC - depend on Vendor */
-	} esc[CONNECTED_ESC_MAX];
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-//ORB_DECLARE(esc_status);
-ORB_DECLARE_OPTIONAL(esc_status);
-
-#endif

src/modules/uavcan/actuators/esc.cpp

@@ -85,7 +85,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 {
 	if ((outputs == nullptr) || 
             (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
-            (num_outputs > CONNECTED_ESC_MAX)) {
+            (num_outputs > esc_status_s::CONNECTED_ESC_MAX)) {
 		perf_count(_perfcnt_invalid_input);
 		return;
 	}
@@ -159,7 +159,7 @@ void UavcanEscController::arm_single_esc(int num, bool arm)
 
 void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
 {
-	if (msg.esc_index < CONNECTED_ESC_MAX) {
+	if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
 		_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
 		_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
 
@@ -179,7 +179,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
 void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
 {
 	_esc_status.counter += 1;
-	_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
+	_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
 
 	if (_esc_status_pub > 0) {
 		(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);