From 7c3391d0d8417fd6fceadcf90a8cd8fc5ffb31eb Mon Sep 17 00:00:00 2001
From: Oliver Walters <oliver.henry.walters@gmail.com>
Date: Mon, 9 Dec 2019 15:31:29 +1100
Subject: [PATCH] AP_BoardConfig: added support for Piccolo CAN ESCs

---
 libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp | 11 +++++++++++
 libraries/AP_BoardConfig/AP_BoardConfig_CAN.h   | 10 ++++++----
 libraries/AP_BoardConfig/canbus_driver.cpp      |  5 +++--
 3 files changed, 20 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
index 820cc6a3cf..bdf7c67cf9 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
@@ -36,6 +36,8 @@
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <AP_ToshibaCAN/AP_ToshibaCAN.h>
 #include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
+
 extern const AP_HAL::HAL& hal;
 
 // table of user settable parameters
@@ -174,6 +176,15 @@ void AP_BoardConfig_CAN::init()
                     AP_BoardConfig::config_error("ToshibaCAN init failed");
                     continue;
                 }
+#if HAL_PICCOLO_CAN_ENABLE
+            } else if (prot_type == Protocol_Type_PiccoloCAN) {
+                _drivers[i]._driver = _drivers[i]._pcan = new AP_PiccoloCAN;
+
+                if (_drivers[i]._driver == nullptr) {
+                    AP_BoardConfig::config_error("PiccoloCAN init failed");
+                    continue;
+                }
+#endif
             } else {
                 continue;
             }
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
index 2407a1ce99..e1ad00e9f4 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
@@ -26,7 +26,8 @@ public:
         Protocol_Type_None = 0,
         Protocol_Type_UAVCAN = 1,
         Protocol_Type_KDECAN = 2,
-        Protocol_Type_ToshibaCAN = 3
+        Protocol_Type_ToshibaCAN = 3,
+        Protocol_Type_PiccoloCAN = 4,
     };
 
     void init(void);
@@ -126,9 +127,10 @@ private:
         AP_Int8 _protocol_type;
         Protocol_Type _protocol_type_cache;
         AP_HAL::CANProtocol* _driver;
-        AP_HAL::CANProtocol* _uavcan;
-        AP_HAL::CANProtocol* _kdecan;
-        AP_HAL::CANProtocol* _tcan;
+        AP_HAL::CANProtocol* _uavcan;   // UAVCAN
+        AP_HAL::CANProtocol* _kdecan;   // KDECAN
+        AP_HAL::CANProtocol* _tcan;     // ToshibaCAN
+        AP_HAL::CANProtocol* _pcan;     // PiccoloCAN
     };
 
 #if AP_UAVCAN_SLCAN_ENABLED
diff --git a/libraries/AP_BoardConfig/canbus_driver.cpp b/libraries/AP_BoardConfig/canbus_driver.cpp
index 0cd7473ab1..1e875d6cac 100644
--- a/libraries/AP_BoardConfig/canbus_driver.cpp
+++ b/libraries/AP_BoardConfig/canbus_driver.cpp
@@ -21,6 +21,7 @@
 
   #include <AP_UAVCAN/AP_UAVCAN.h>
   #include <AP_ToshibaCAN/AP_ToshibaCAN.h>
+  #include <AP_PiccoloCAN/AP_PiccoloCAN.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)
@@ -32,8 +33,8 @@ 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,3:ToshibaCAN
-    // @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN
+    // @Values{Copter,Plane,Sub}: 0:Disabled,1:UAVCAN,2:KDECAN,3:ToshibaCAN,4:PiccoloCAN
+    // @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PROTOCOL", 1, AP_BoardConfig_CAN::Driver, _protocol_type, AP_BoardConfig_CAN::Protocol_Type_UAVCAN),