From a37c86af6e4ce04632286514ceed2c13f2e18e74 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 15 Jan 2019 13:49:40 +0900
Subject: [PATCH] AP_BoardConfig: add ToshibaCAN

---
 libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp | 9 +++++++++
 libraries/AP_BoardConfig/AP_BoardConfig_CAN.h   | 2 ++
 libraries/AP_BoardConfig/canbus_driver.cpp      | 5 +++--
 3 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
index 9c4fbcefbd..b68d147e25 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
@@ -18,6 +18,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
+#include "AP_BoardConfig.h"
 #include "AP_BoardConfig_CAN.h"
 
 #if HAL_WITH_UAVCAN
@@ -39,6 +40,7 @@
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include <AP_KDECAN/AP_KDECAN.h>
+#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -160,6 +162,13 @@ void AP_BoardConfig_CAN::init()
 
                 AP_Param::load_object_from_eeprom(_drivers[i]._kdecan, AP_KDECAN::var_info);
 #endif
+            } else if (prot_type == Protocol_Type_ToshibaCAN) {
+                _drivers[i]._driver = _drivers[i]._tcan = new AP_ToshibaCAN;
+
+                if (_drivers[i]._driver == nullptr) {
+                    AP_BoardConfig::sensor_config_error("ToshibaCAN init failed");
+                    continue;
+                }
             } else {
                 continue;
             }
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
index 897f3b71d2..0ebda82eaa 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
@@ -26,6 +26,7 @@ public:
         Protocol_Type_None = 0,
         Protocol_Type_UAVCAN = 1,
         Protocol_Type_KDECAN = 2,
+        Protocol_Type_ToshibaCAN = 3
     };
 
     void init(void);
@@ -123,6 +124,7 @@ private:
         AP_HAL::CANProtocol* _driver;
         AP_HAL::CANProtocol* _uavcan;
         AP_HAL::CANProtocol* _kdecan;
+        AP_HAL::CANProtocol* _tcan;
     };
 
     Interface _interfaces[MAX_NUMBER_OF_CAN_INTERFACES];
diff --git a/libraries/AP_BoardConfig/canbus_driver.cpp b/libraries/AP_BoardConfig/canbus_driver.cpp
index a13c58870f..0cd7473ab1 100644
--- a/libraries/AP_BoardConfig/canbus_driver.cpp
+++ b/libraries/AP_BoardConfig/canbus_driver.cpp
@@ -20,6 +20,7 @@
   #include <AP_Vehicle/AP_Vehicle.h>
 
   #include <AP_UAVCAN/AP_UAVCAN.h>
+  #include <AP_ToshibaCAN/AP_ToshibaCAN.h>
 
   // To be replaced with macro saying if KDECAN library is included
   #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
@@ -31,8 +32,8 @@ const AP_Param::GroupInfo AP_BoardConfig_CAN::Driver::var_info[] = {
     // @Param: PROTOCOL
     // @DisplayName: Enable use of specific protocol over virtual driver
     // @Description: Enabling this option starts selected protocol that will use this virtual driver
-    // @Values{Copter,Plane,Sub}: 0:Disabled,1:UAVCAN,2:KDECAN
-    // @Values: 0:Disabled,1:UAVCAN
+    // @Values{Copter,Plane,Sub}: 0:Disabled,1:UAVCAN,2:KDECAN,3:ToshibaCAN
+    // @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PROTOCOL", 1, AP_BoardConfig_CAN::Driver, _protocol_type, AP_BoardConfig_CAN::Protocol_Type_UAVCAN),