Initial Cannode PWM Support (#19748)

* Add uavcannode esc/servo pwm control pipeline
* Remove cannode rc.interface with mixer purge
* Cannode add Kconfig options to reduce flash usage

src/drivers/uavcan/CMakeLists.txt

@@ -142,6 +142,8 @@ px4_add_module(
 		${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
 		${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
 	SRCS
+		arming_status.cpp
+		arming_status.hpp
 		beep.cpp
 		beep.hpp
 		rgbled.cpp

src/drivers/uavcan/actuators/esc.cpp

@@ -50,7 +50,7 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
 	_uavcan_pub_raw_cmd(node),
 	_uavcan_sub_status(node)
 {
-	_uavcan_pub_raw_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
+	_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::NumericallyMin); // Highest priority
 }
 
 int

src/drivers/uavcan/actuators/esc.hpp

@@ -91,8 +91,6 @@ private:
 	 */
 	uint8_t check_escs_status();
 
-	static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5;	///< 0..31, inclusive, 0 - highest, 31 - lowest
-
 	typedef uavcan::MethodBinder<UavcanEscController *,
 		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;
 

src/drivers/uavcan/arming_status.cpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * 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 arming_status.cpp
+ *
+ * @author Alex Klimaj <alex@arkelectron.com>
+ */
+
+#include "arming_status.hpp"
+
+UavcanArmingStatus::UavcanArmingStatus(uavcan::INode &node) :
+	_arming_status_pub(node),
+	_timer(node)
+{
+	_arming_status_pub.setPriority(uavcan::TransferPriority::Default);
+}
+
+int UavcanArmingStatus::init()
+{
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	if (!_timer.isRunning()) {
+		_timer.setCallback(TimerCbBinder(this, &UavcanArmingStatus::periodic_update));
+		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	}
+
+	return 0;
+}
+
+void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &)
+{
+	actuator_armed_s actuator_armed;
+
+	if (_actuator_armed_sub.update(&actuator_armed)) {
+		uavcan::equipment::safety::ArmingStatus cmd;
+
+		if (actuator_armed.lockdown || actuator_armed.manual_lockdown) {
+			cmd.status = cmd.STATUS_DISARMED;
+
+		} else if (actuator_armed.armed || actuator_armed.prearmed) {
+			cmd.status = cmd.STATUS_FULLY_ARMED;
+
+		} else {
+			cmd.status = cmd.STATUS_DISARMED;
+		}
+
+		(void)_arming_status_pub.broadcast(cmd);
+	}
+}

src/drivers/uavcan/arming_status.hpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+*
+*   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+*
+* 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 arming_status.hpp
+ *
+ * @author Alex Klimaj <alex@arkelectron.com>
+ *
+ * @brief Publish actuator_armed to CAN ArmingStatus message
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/safety/ArmingStatus.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_armed.h>
+
+
+class UavcanArmingStatus
+{
+public:
+	UavcanArmingStatus(uavcan::INode &node);
+
+	/*
+	 * setup periodic updater
+	 */
+	int init();
+
+private:
+	/*
+	 * Max update rate to avoid exessive bus traffic
+	 */
+	static constexpr unsigned MAX_RATE_HZ = 10;
+
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	void periodic_update(const uavcan::TimerEvent &);
+
+	typedef uavcan::MethodBinder<UavcanArmingStatus *, void (UavcanArmingStatus::*)(const uavcan::TimerEvent &)>
+	TimerCbBinder;
+
+	/*
+	 * Publish CAN ArmingState
+	 */
+	uavcan::Publisher<uavcan::equipment::safety::ArmingStatus> _arming_status_pub;
+
+	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
+
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
+
+};

src/drivers/uavcan/uavcan_main.cpp

@@ -80,6 +80,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
 	ModuleParams(nullptr),
 	_node(can_driver, system_clock, _pool_allocator),
+	_arming_status_controller(_node),
 	_beep_controller(_node),
 	_esc_controller(_node),
 	_servo_controller(_node),
@@ -478,7 +479,21 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 
 	fill_node_info();
 
-	int ret = _beep_controller.init();
+	int ret;
+
+	// UAVCAN_PUB_ARM
+	int32_t uavcan_pub_arm = 0;
+	param_get(param_find("UAVCAN_PUB_ARM"), &uavcan_pub_arm);
+
+	if (uavcan_pub_arm == 1) {
+		ret = _arming_status_controller.init();
+
+		if (ret < 0) {
+			return ret;
+		}
+	}
+
+	ret = _beep_controller.init();
 
 	if (ret < 0) {
 		return ret;

src/drivers/uavcan/uavcan_main.hpp

@@ -50,6 +50,7 @@
 #include "actuators/hardpoint.hpp"
 #include "actuators/servo.hpp"
 #include "allocator.hpp"
+#include "arming_status.hpp"
 #include "beep.hpp"
 #include "logmessage.hpp"
 #include "rgbled.hpp"
@@ -224,6 +225,7 @@ private:
 	uavcan::Node<>			_node;				///< library instance
 	pthread_mutex_t			_node_mutex;
 
+	UavcanArmingStatus		_arming_status_controller;
 	UavcanBeepController		_beep_controller;
 	UavcanEscController		_esc_controller;
 	UavcanServoController		_servo_controller;

src/drivers/uavcan/uavcan_params.c

@@ -185,6 +185,18 @@ PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
  */
 PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
 
+/**
+ * publish Arming Status stream
+ *
+ * Enable UAVCAN Arming Status stream publication
+ *  uavcan::equipment::safety::ArmingStatus
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_PUB_ARM, 0);
+
 /**
  * publish RTCM stream
  *