voxl_esc: Added GPIO control feature

voxl_esc: Removed obsolete modal_io_data UORB topic

msg/Buffer128.msg

@@ -1,8 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-
-uint8 len                       # length of data
-uint32 MAX_BUFLEN = 128
-
-uint8[128] data                 # data
-
-# TOPICS voxl2_io_data

msg/CMakeLists.txt

@@ -48,7 +48,6 @@ set(msg_files
 	AirspeedValidated.msg
 	AirspeedWind.msg
 	AutotuneAttitudeControlStatus.msg
-	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
 	CameraStatus.msg

src/drivers/actuators/voxl_esc/voxl_esc.hpp

@@ -49,7 +49,6 @@
 #include <uORB/topics/led_control.h>
 #include <uORB/topics/esc_status.h>
 #include <uORB/topics/actuator_test.h>
-#include <uORB/topics/buffer128.h>
 
 #include <px4_platform_common/Serial.hpp>
 
@@ -129,17 +128,24 @@ private:
 	static constexpr uint32_t VOXL_ESC_MODE_TURTLE_AUX1 = 1;
 	static constexpr uint32_t VOXL_ESC_MODE_TURTLE_AUX2 = 2;
 
-	static constexpr uint16_t VOXL_ESC_EXT_RPM =
+	// minimum firmware version for extended RPM command support
-		39;                // minimum firmware version for extended RPM command support
+	static constexpr uint16_t VOXL_ESC_EXT_RPM = 39;
-	static constexpr uint16_t VOXL_ESC_RPM_MAX = INT16_MAX -
+	// 32K, Limit max standard range RPM to prevent overflow (rpm packet packing function accepts int32_t)
-			1;		// 32K, Limit max standard range RPM to prevent overflow (rpm packet packing function accepts int32_t)
+	static constexpr uint16_t VOXL_ESC_RPM_MAX = INT16_MAX - 1;
-	static constexpr uint16_t VOXL_ESC_RPM_MAX_EXT = UINT16_MAX -
+	// 65K, Limit max extended range RPM to prevent overflow (rpm packet packing function accepts int32_t)
-			5;	// 65K, Limit max extended range RPM to prevent overflow (rpm packet packing function accepts int32_t)
+	static constexpr uint16_t VOXL_ESC_RPM_MAX_EXT = UINT16_MAX - 5;
 
 	static constexpr uint16_t VOXL_ESC_NUM_INIT_RETRIES = 3;
 
-	//static constexpr uint16_t max_pwm(uint16_t pwm) { return math::min(pwm, VOXL_ESC_PWM_MAX); }
+	static constexpr float    VOXL_ESC_GPIO_CTL_DISABLED_SETPOINT = -0.1f;
-	//static constexpr uint16_t max_rpm(uint16_t rpm) { return math::min(rpm, VOXL_ESC_RPM_MAX); }
+	static constexpr float    VOXL_ESC_GPIO_CTL_THRESHOLD = 0.0f;
+
+	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX1 = 1;
+	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX2 = 2;
+	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX3 = 3;
+	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX4 = 4;
+	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX5 = 5;
+	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX6 = 6;
 
 	Serial			_uart_port{};
 
@@ -161,6 +167,7 @@ private:
 		int32_t		publish_battery_status{0};
 		int32_t		esc_warn_temp_threshold{0};
 		int32_t		esc_over_temp_threshold{0};
+		int32_t		gpio_ctl_channel{0};
 	} voxl_esc_params_t;
 
 	struct EscChan {
@@ -205,7 +212,6 @@ private:
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription	_actuator_test_sub{ORB_ID(actuator_test)};
 	uORB::Subscription	_led_update_sub{ORB_ID(led_control)};
-	uORB::Subscription	_voxl2_io_data_sub{ORB_ID(voxl2_io_data)};
 
 	uORB::Publication<actuator_outputs_s> _outputs_debug_pub{ORB_ID(actuator_outputs_debug)};
 	uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
@@ -224,6 +230,11 @@ private:
 	int32_t			_rpm_fullscale{0};
 	manual_control_setpoint_s _manual_control_setpoint{};
 
+	int32_t			_gpio_write_counter{0};
+	bool			_gpio_ctl_en{false};
+	bool			_gpio_ctl_high{true};
+	bool			_prev_gpio_ctl_high{true};
+
 	uint16_t		_cmd_id{0};
 	Command			_current_cmd;
 	px4::atomic<Command *>	_pending_cmd{nullptr};

src/drivers/actuators/voxl_esc/voxl_esc_params.c

@@ -262,3 +262,17 @@ PARAM_DEFINE_INT32(VOXL_ESC_T_WARN, 0);
  * @max 200
  */
 PARAM_DEFINE_INT32(VOXL_ESC_T_OVER, 0);
+
+
+/**
+ * GPIO Control Channel
+ *
+ *
+ * @reboot_required true
+ *
+ * @group VOXL ESC
+ * @value 0 - Disabled
+ * @min 0
+ * @max 6
+ */
+PARAM_DEFINE_INT32(VOXL_ESC_GPIO_CH, 0);