EscServer.hpp
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/****************************************************************************
*
* Copyright (C) 2014 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 EscServer.hpp
*
* Server-side implementation of DS-15 specification ESC service
* (Used for CANNode control of an ESC via PWM output)
*
* Subscribes to the following UAVCAN v1 messages:
* reg.drone.service.actuator.common.sp.Value8.0.1
* reg.drone.service.common.Readiness.0.1
*
* Publishes to the following UAVCAN v1 messages:
* reg.drone.service.actuator.common.Feedback.0.1
* reg.drone.service.actuator.common.Status.0.1
*
* And publishes to the following uORB topics:
* actuator_armed
* output_control_mc
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
#include <lib/perf/perf_counter.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <lib/mixer_module/mixer_module.hpp>
// DS-15 Specification Messages
#include <reg/drone/service/actuator/common/sp/Vector31_0_1.h>
#include <reg/drone/service/common/Readiness_0_1.h>
#include "../Publishers/Publisher.hpp"
class EscServer : public UavcanSubscription
{
/// TODO
}