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/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);
+	}
+}