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Initial Cannode PWM Support (#19748)

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* Add uavcannode esc/servo pwm control pipeline
* Remove cannode rc.interface with mixer purge
* Cannode add Kconfig options to reduce flash usage
This commit is contained in:
Alex Klimaj
2023-03-15 11:20:07 -04:00
committed by GitHub
parent f0a95f9572
commit ea97a38b2b
24 changed files with 891 additions and 19 deletions
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src/drivers/uavcan/actuators/esc.cpp
+1 -1
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@@ -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
-2
View File
@@ -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;