[uavcan] Param for interface mask of ESC actuators

src/drivers/uavcan/actuators/esc.cpp

@@ -39,6 +39,7 @@
 
 #include "esc.hpp"
 #include <systemlib/err.h>
+#include <parameters/param.h>
 #include <drivers/drv_hrt.h>
 
 #define MOTOR_BIT(x) (1<<(x))
@@ -66,6 +67,12 @@ UavcanEscController::init()
 
 	_esc_status_pub.advertise();
 
+	int32_t iface_mask{0xFF};
+
+	if (param_get(param_find("UAVCAN_ESC_IFACE"), &iface_mask) == OK) {
+		_uavcan_pub_raw_cmd.getTransferSender().setIfaceMask(iface_mask);
+	}
+
 	return res;
 }
 

src/drivers/uavcan/module.yaml

@@ -1,4 +1,29 @@
 module_name: UAVCAN
+parameters:
+- group: UAVCAN
+  definitions:
+    UAVCAN_ESC_IFACE:
+      description:
+        short: Which CAN interfaces to output ESC messages on.
+        long: |
+          Since ESC messages are high priority and sent at a high rate, it is
+          recommended to only enable the interfaces that are actually used.
+          Otherwise, the ESC messages will arbitrate lower priority messages and
+          starve other nodes on the bus.
+      type: bitmask
+      bit:
+        0: CAN1
+        1: CAN2
+        2: CAN3
+        3: CAN4
+        4: CAN5
+        5: CAN6
+        6: CAN7
+        7: CAN8
+      default: 255
+      min: 1
+      max: 255
+      reboot_required: true
 actuator_output:
   show_subgroups_if: 'UAVCAN_ENABLE>=3'
   config_parameters: