Roboclaw ESC driver

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -13,6 +13,8 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
+
+
 param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -52,10 +54,9 @@ param set-default GND_MAX_ANG 3.1415
 # Set geometry & output configration
 param set-default CA_AIRFRAME 6
 param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
 
+
+param set-default RBCLW_ADDRESS 128
+param set-default ROBOCLAW_FUNC1 101
+param set-default ROBOCLAW_FUNC2 102
+param set-default ROBOCLAW_REV 1

boards/px4/fmu-v5x/default.px4board

@@ -17,6 +17,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y

msg/CMakeLists.txt

@@ -234,6 +234,7 @@ set(msg_files
  VehicleTrajectoryBezier.msg
  VehicleTrajectoryWaypoint.msg
  VtolVehicleStatus.msg
+ WheelEncoders.msg
  Wind.msg
  YawEstimatorStatus.msg
 )

msg/WheelEncoders.msg

@@ -0,0 +1,5 @@
+uint64 timestamp # time since system start (microseconds)
+
+# Two wheels: 0 right, 1 left
+float32[2] wheel_speed # [rad/s]
+float32[2] wheel_angle # [rad]

src/drivers/roboclaw/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+# Copyright (c) 2015-2023 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.
+#
+############################################################################
+
+px4_add_module(
+ MODULE drivers__roboclaw
+ MAIN roboclaw
+ COMPILE_FLAGS
+ SRCS
+ Roboclaw.cpp
+ MODULE_CONFIG
+ module.yaml
+ )
+

src/drivers/roboclaw/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_ROBOCLAW
+ bool "roboclaw"
+ default n
+ ---help---
+ Enable support for roboclaw