From c1c8158687b7cba57cbc7e80623fe7b8cc8be517 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 11 Mar 2023 11:46:34 +1100
Subject: [PATCH] AP_CANManager: add and use option to compile SLCAN support
 out of code

---
 libraries/AP_CANManager/AP_CANManager.cpp      | 8 ++++++++
 libraries/AP_CANManager/AP_CANManager.h        | 5 +++++
 libraries/AP_CANManager/AP_CANManager_config.h | 7 +++++++
 libraries/AP_CANManager/AP_SLCANIface.cpp      | 4 ++--
 libraries/AP_CANManager/AP_SLCANIface.h        | 8 +++++---
 5 files changed, 27 insertions(+), 5 deletions(-)
 create mode 100644 libraries/AP_CANManager/AP_CANManager_config.h

diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp
index 2c00572326..b84a749c05 100644
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@@ -87,9 +87,11 @@ const AP_Param::GroupInfo AP_CANManager::var_info[] = {
     AP_SUBGROUPINFO(_drv_param[2], "D3_", 6, AP_CANManager, AP_CANManager::CANDriver_Params),
 #endif
 
+#if AP_CAN_SLCAN_ENABLED
     // @Group: SLCAN_
     // @Path: ../AP_CANManager/AP_SLCANIface.cpp
     AP_SUBGROUPINFO(_slcan_interface, "SLCAN_", 7, AP_CANManager, SLCAN::CANIface),
+#endif
 
     // @Param: LOGLEVEL
     // @DisplayName: Loglevel
@@ -134,8 +136,10 @@ void AP_CANManager::init()
         _log_pos = 0;
     }
 
+#if AP_CAN_SLCAN_ENABLED
     //Reset all SLCAN related params that needs resetting at boot
     _slcan_interface.reset_params();
+#endif
 
     Driver_Type drv_type[HAL_MAX_CAN_PROTOCOL_DRIVERS] = {};
     // loop through interfaces and allocate and initialise Iface,
@@ -165,11 +169,15 @@ void AP_CANManager::init()
         bool can_initialised = false;
         // Check if this interface need hooking up to slcan passthrough
         // instead of a driver
+#if AP_CAN_SLCAN_ENABLED
         if (_slcan_interface.init_passthrough(i)) {
             // we have slcan bridge setup pass that on as can iface
             can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
             iface = &_slcan_interface;
         } else {
+#else
+        if (true) {
+#endif
             can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
         }
 
diff --git a/libraries/AP_CANManager/AP_CANManager.h b/libraries/AP_CANManager/AP_CANManager.h
index f5c6a99131..5b04384a8a 100644
--- a/libraries/AP_CANManager/AP_CANManager.h
+++ b/libraries/AP_CANManager/AP_CANManager.h
@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "AP_CANManager_config.h"
+
 #include <AP_HAL/AP_HAL.h>
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
@@ -166,7 +168,10 @@ private:
 
     AP_Int8 _loglevel;
     uint8_t _num_drivers;
+#if AP_CAN_SLCAN_ENABLED
     SLCAN::CANIface _slcan_interface;
+#endif
+
     static AP_CANManager *_singleton;
 
     char* _log_buf;
diff --git a/libraries/AP_CANManager/AP_CANManager_config.h b/libraries/AP_CANManager/AP_CANManager_config.h
new file mode 100644
index 0000000000..c8b9f8af91
--- /dev/null
+++ b/libraries/AP_CANManager/AP_CANManager_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_CAN_SLCAN_ENABLED
+#define AP_CAN_SLCAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
diff --git a/libraries/AP_CANManager/AP_SLCANIface.cpp b/libraries/AP_CANManager/AP_SLCANIface.cpp
index 8c11ffdccc..62ccd0e44e 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.cpp
+++ b/libraries/AP_CANManager/AP_SLCANIface.cpp
@@ -19,7 +19,7 @@
 
 #include "AP_SLCANIface.h"
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if AP_CAN_SLCAN_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 
@@ -770,4 +770,4 @@ void SLCAN::CANIface::reset_params()
 {
     _slcan_ser_port.set_and_save(-1);
 }
-#endif
+#endif  // AP_CAN_SLCAN_ENABLED
diff --git a/libraries/AP_CANManager/AP_SLCANIface.h b/libraries/AP_CANManager/AP_SLCANIface.h
index 9a67bcdd1d..2f3f35382c 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.h
+++ b/libraries/AP_CANManager/AP_SLCANIface.h
@@ -17,9 +17,11 @@
 
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
+#include "AP_CANManager_config.h"
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if AP_CAN_SLCAN_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include "AP_HAL/utility/RingBuffer.h"
 #include <AP_Param/AP_Param.h>
 
@@ -139,4 +141,4 @@ protected:
 
 }
 
-#endif
+#endif  // AP_CAN_SLCAN_ENABLED