From ddcfe5e73494d4d275337015615876065db733a5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 18 Apr 2023 19:44:06 +1000
Subject: [PATCH] Tools: move and rename CAN Driver_Type enumeration

---
 Tools/AP_Periph/AP_Periph.h    | 5 +++--
 Tools/AP_Periph/Parameters.cpp | 6 +++---
 Tools/AP_Periph/Parameters.h   | 2 +-
 Tools/AP_Periph/can.cpp        | 8 ++++----
 4 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 0c7be1f395..0fee4bdaa6 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -20,7 +20,8 @@
 #include "../AP_Bootloader/app_comms.h"
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 #include "hwing_esc.h"
-#include <AP_CANManager/AP_CANManager.h>
+#include <AP_CANManager/AP_CAN.h>
+#include <AP_CANManager/AP_SLCANIface.h>
 #include <AP_Scripting/AP_Scripting.h>
 #include <AP_HAL/CANIface.h>
 #include <AP_Stats/AP_Stats.h>
@@ -162,7 +163,7 @@ public:
     // This allows you to change the protocol and it continues to use the one at boot.
     // Without this, changing away from UAVCAN causes loss of comms and you can't
     // change the rest of your params or verify it succeeded.
-    AP_CANManager::Driver_Type can_protocol_cached[HAL_NUM_CAN_IFACES];
+    AP_CAN::Protocol can_protocol_cached[HAL_NUM_CAN_IFACES];
 #endif
 
 #ifdef HAL_PERIPH_ENABLE_MSP
diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index 3e64e5edf6..67c3febb85 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -102,7 +102,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @Values: 0:Disabled,1:UAVCAN,4:PiccoloCAN,6:EFI_NWPMU,7:USD1,8:KDECAN
     // @User: Advanced
     // @RebootRequired: True
-    GARRAY(can_protocol,     0, "CAN_PROTOCOL", AP_CANManager::Driver_Type_DroneCAN),
+    GARRAY(can_protocol,     0, "CAN_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
     
     // @Param: CAN2_BAUDRATE
     // @CopyFieldsFrom: CAN_BAUDRATE
@@ -111,7 +111,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
 
     // @Param: CAN2_PROTOCOL
     // @CopyFieldsFrom: CAN_PROTOCOL
-    GARRAY(can_protocol,     1, "CAN2_PROTOCOL", AP_CANManager::Driver_Type_DroneCAN),
+    GARRAY(can_protocol,     1, "CAN2_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
 #endif
 
 #if HAL_NUM_CAN_IFACES >= 3
@@ -122,7 +122,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
 
     // @Param: CAN3_PROTOCOL
     // @CopyFieldsFrom: CAN_PROTOCOL
-    GARRAY(can_protocol,    2, "CAN3_PROTOCOL", AP_CANManager::Driver_Type_DroneCAN),
+    GARRAY(can_protocol,    2, "CAN3_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
 #endif
 
 #if HAL_CANFD_SUPPORTED
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index 52d9c5980d..9fbdaec8ab 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -78,7 +78,7 @@ public:
     
     AP_Int32 can_baudrate[HAL_NUM_CAN_IFACES];
 #if HAL_NUM_CAN_IFACES >= 2
-    AP_Enum<AP_CANManager::Driver_Type> can_protocol[HAL_NUM_CAN_IFACES];
+    AP_Enum<AP_CAN::Protocol> can_protocol[HAL_NUM_CAN_IFACES];
 #endif
 
 #if AP_CAN_SLCAN_ENABLED
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 1c340a9e12..e12091c3c6 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1197,7 +1197,7 @@ static void processTx(void)
             }
     #endif
     #if HAL_NUM_CAN_IFACES >= 2
-            if (periph.can_protocol_cached[ins.index] != AP_CANManager::Driver_Type_DroneCAN) {
+            if (periph.can_protocol_cached[ins.index] != AP_CAN::Protocol::DroneCAN) {
                 continue;
             }
     #endif
@@ -1229,7 +1229,7 @@ static void processRx(void)
             continue;
         }
 #if HAL_NUM_CAN_IFACES >= 2
-        if (periph.can_protocol_cached[ins.index] != AP_CANManager::Driver_Type_DroneCAN) {
+        if (periph.can_protocol_cached[ins.index] != AP_CAN::Protocol::DroneCAN) {
             continue;
         }
 #endif
@@ -1485,12 +1485,12 @@ void AP_Periph_FW::can_start()
 #if AP_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz && HAL_NUM_CAN_IFACES >= 2
     bool has_uavcan_at_1MHz = false;
     for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
-        if (g.can_protocol[i] == AP_CANManager::Driver_Type_DroneCAN && g.can_baudrate[i] == 1000000) {
+        if (g.can_protocol[i] == AP_CAN::Protocol::DroneCAN && g.can_baudrate[i] == 1000000) {
             has_uavcan_at_1MHz = true;
         }
     }
     if (!has_uavcan_at_1MHz) {
-        g.can_protocol[0].set_and_save(AP_CANManager::Driver_Type_DroneCAN);
+        g.can_protocol[0].set_and_save(uint8_t(AP_CAN::Protocol::DroneCAN));
         g.can_baudrate[0].set_and_save(1000000);
     }
 #endif // HAL_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz