Voxl ESC driver update (#23022)

* Made Serial API open the UART in NON BLOCKING mode
* Updated voxl_esc driver to latest from ModalAI fork
* Ported voxl_esc driver over to new Serial UART API
* Removed voxl_esc serial abstraction since new Serial API is already a serial abstraction

Author: katzfey

platforms/common/include/px4_platform_common/Serial.hpp

@@ -55,6 +55,7 @@ class Serial
 	virtual ~Serial();
 
 	// Open sets up the port and gets it configured based on desired configuration
+	// The port is always opened in NON BLOCKING mode.
 	bool open();
 	bool isOpen() const;
 

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -181,7 +181,7 @@ bool SerialImpl::open()
 	}
 
 	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
 	if (serial_fd < 0) {
 		PX4_ERR("failed to open %s err: %d", _port, errno);

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -114,6 +114,7 @@ class SerialImpl
 	bool _single_wire_mode{false};
 	bool _swap_rx_tx_mode{false};
 	bool _inverted_mode{false};
+
 };
 
 } // namespace device

platforms/posix/include/SerialImpl.hpp

@@ -114,6 +114,7 @@ class SerialImpl
 	bool _single_wire_mode{false};
 	bool _swap_rx_tx_mode{false};
 	bool _inverted_mode{false};
+
 };
 
 } // namespace device

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -179,7 +179,7 @@ bool SerialImpl::open()
 	}
 
 	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
 	if (serial_fd < 0) {
 		PX4_ERR("failed to open %s err: %d", _port, errno);

platforms/qurt/src/px4/SerialImpl.cpp

@@ -163,7 +163,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 		return -1;
 	}
 
-	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
+	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 100);
 
 	if (ret_read < 0) {
 		PX4_DEBUG("%s read error %d", _port, ret_read);

src/drivers/actuators/voxl_esc/CMakeLists.txt

@@ -38,8 +38,6 @@ px4_add_module(
 		crc16.c
 		crc16.h
 
-		voxl_esc_serial.cpp
-		voxl_esc_serial.hpp
 		voxl_esc.cpp
 		voxl_esc.hpp
 		qc_esc_packet_types.h