AP_BoardConfig: support KDECAN

Until #9397 is fixed, we need to have separate params for each driver type, but code was left as generic as possible

libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp

@@ -35,7 +35,10 @@
 #include <AP_HAL_ChibiOS/CAN.h>
 #endif
 
+#include <AP_Vehicle/AP_Vehicle.h>
+
 #include <AP_UAVCAN/AP_UAVCAN.h>
+#include <AP_KDECAN/AP_KDECAN.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -137,17 +140,31 @@ void AP_BoardConfig_CAN::init()
             printf("can_mgr %d initialized well\n\r", i + 1);
 
             if (prot_type == Protocol_Type_UAVCAN) {
-                _drivers[i]._driver = new AP_UAVCAN;
+                _drivers[i]._driver = _drivers[i]._uavcan =  new AP_UAVCAN;
 
                 if (_drivers[i]._driver == nullptr) {
                     AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1);
                     continue;
                 }
 
-                AP_Param::load_object_from_eeprom(_drivers[i]._driver, AP_UAVCAN::var_info);
+                AP_Param::load_object_from_eeprom(_drivers[i]._uavcan, AP_UAVCAN::var_info);
+            } else if (prot_type == Protocol_Type_KDECAN) {
+// 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)
+                _drivers[i]._driver = _drivers[i]._kdecan =  new AP_KDECAN;
+
+                 if (_drivers[i]._driver == nullptr) {
+                    AP_HAL::panic("Failed to allocate KDECAN %d\n\r", i + 1);
+                    continue;
+                }
 
-                _drivers[i]._driver->init(i);
+                AP_Param::load_object_from_eeprom(_drivers[i]._kdecan, AP_KDECAN::var_info);
+#endif
+            } else {
+                continue;
             }
+
+            _drivers[i]._driver->init(i);
         }
     }
 }

libraries/AP_BoardConfig/AP_BoardConfig_CAN.h

@@ -25,6 +25,7 @@ public:
     enum Protocol_Type : uint8_t {
         Protocol_Type_None = 0,
         Protocol_Type_UAVCAN = 1,
+        Protocol_Type_KDECAN = 2,
     };
 
     void init(void);
@@ -120,6 +121,8 @@ private:
         AP_Int8 _protocol_type;
         Protocol_Type _protocol_type_cache;
         AP_HAL::CANProtocol* _driver;
+        AP_HAL::CANProtocol* _uavcan;
+        AP_HAL::CANProtocol* _kdecan;
     };
 
     Interface _interfaces[MAX_NUMBER_OF_CAN_INTERFACES];

libraries/AP_BoardConfig/canbus_driver.cpp

@@ -16,14 +16,22 @@
 #include <AP_HAL/AP_HAL.h>
 
 #if HAL_WITH_UAVCAN
-#include "AP_BoardConfig_CAN.h"
-#include <AP_UAVCAN/AP_UAVCAN.h>
+  #include "AP_BoardConfig_CAN.h"
+  #include <AP_Vehicle/AP_Vehicle.h>
+
+  #include <AP_UAVCAN/AP_UAVCAN.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)
+    #include <AP_KDECAN/AP_KDECAN.h>
+  #endif
 
 // table of user settable CAN bus parameters
 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
     // @User: Advanced
     // @RebootRequired: True
@@ -31,7 +39,14 @@ const AP_Param::GroupInfo AP_BoardConfig_CAN::Driver::var_info[] = {
 
     // @Group: UC_
     // @Path: ../AP_UAVCAN/AP_UAVCAN.cpp
-    AP_SUBGROUPPTR(_driver, "UC_", 2, AP_BoardConfig_CAN::Driver, AP_UAVCAN),
+    AP_SUBGROUPPTR(_uavcan, "UC_", 2, AP_BoardConfig_CAN::Driver, AP_UAVCAN),
+
+// 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)
+    // @Group: KDE_
+    // @Path: ../AP_KDECAN/AP_KDECAN.cpp
+    AP_SUBGROUPPTR(_kdecan, "KDE_", 3, AP_BoardConfig_CAN::Driver, AP_KDECAN),
+#endif
 
     AP_GROUPEND
 };