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/uavcannode/Publishers/ESCStatus.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanPublisherBase.hpp"
+
+#include <uavcan/equipment/esc/Status.hpp>
+
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/esc_status.h>
+
+namespace uavcannode
+{
+
+class ESCStatus :
+	public UavcanPublisherBase,
+	private uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<uavcan::equipment::esc::Status>
+{
+public:
+	ESCStatus(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(uavcan::equipment::esc::Status::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(esc_status)),
+		uavcan::Publisher<uavcan::equipment::esc::Status>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::MiddleLower);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       uavcan::equipment::esc::Status::getDataTypeFullName(),
+			       uavcan::equipment::esc::Status::DefaultDataTypeID);
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		// esc_status -> uavcan::equipment::esc::Status
+		esc_status_s esc_status;
+
+		if (uORB::SubscriptionCallbackWorkItem::update(&esc_status)) {
+
+			for (size_t i = 0; i < esc_status.esc_count; i++) {
+				uavcan::equipment::esc::Status status{};
+
+				status.esc_index = i;
+				status.error_count = esc_status.esc[i].esc_errorcount;
+				status.voltage = esc_status.esc[i].esc_voltage;
+				status.current = esc_status.esc[i].esc_current;
+				status.temperature = esc_status.esc[i].esc_temperature;
+				status.rpm = esc_status.esc[i].esc_rpm;
+				//status.power_rating_pct = NAN;
+
+				uavcan::Publisher<uavcan::equipment::esc::Status>::broadcast(status);
+
+				// ensure callback is registered
+				uORB::SubscriptionCallbackWorkItem::registerCallback();
+			}
+		}
+	}
+};
+} // namespace uavcan