AP_BoardConfig: split SLCAN Interface params to there own class

libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp

@@ -84,27 +84,7 @@ const AP_Param::GroupInfo AP_BoardConfig_CAN::var_info[] = {
     AP_SUBGROUPINFO(_drivers[2], "D3_", 6, AP_BoardConfig_CAN, AP_BoardConfig_CAN::Driver),
 #endif
 
-    // @Param: SLCAN_RT
+    AP_SUBGROUPINFO(_slcan, "SLCAN_", 7, AP_BoardConfig_CAN, AP_BoardConfig_CAN::SLCAN_Interface),
-    // @DisplayName: SLCAN Route
-    // @Description: CAN Driver ID to be routed to SLCAN, 0 means no routing
-    // @Range: 0 3
-    // @User: Advanced
-    AP_GROUPINFO("SLCAN_RT", 7, AP_BoardConfig_CAN, _slcan_rt, 1),
-
-    // @Param: SLCAN_SR
-    // @DisplayName: SLCAN Serial Port
-    // @Description: Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial
-    // @Range: 0 5
-    // @User: Advanced
-    AP_GROUPINFO("SLCAN_SR", 8, AP_BoardConfig_CAN, _slcan_sr, -1),
-
-
-    // @Param: SLCAN_TO
-    // @DisplayName: SLCAN Timeout
-    // @Description: Duration of inactivity after which SLCAN in seconds
-    // @Range: 0 255
-    // @User: Advanced
-    AP_GROUPINFO("SLCAN_TO", 9, AP_BoardConfig_CAN, _slcan_to, 0),
 
     AP_GROUPEND
 };
@@ -147,7 +127,7 @@ void AP_BoardConfig_CAN::init()
             if (hal.can_mgr[drv_num - 1] != nullptr) {
                 initret = initret && hal.can_mgr[drv_num - 1]->begin(_interfaces[i]._bitrate, i);
                 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-                    if (_slcan_rt == (i+1) && hal.can_mgr[drv_num - 1] != nullptr ) {
+                    if (_slcan._can_port == (i+1) && hal.can_mgr[drv_num - 1] != nullptr ) {
                         ChibiOS_CAN::CanDriver* drv = (ChibiOS_CAN::CanDriver*)hal.can_mgr[drv_num - 1]->get_driver();
                         slcan_router().init(drv->getIface(i), drv->getUpdateEvent());
                     }
@@ -201,7 +181,7 @@ void AP_BoardConfig_CAN::init()
             } else {
                 continue;
             }
-            if (_slcan_rt == 0) {
+            if (_slcan._can_port == 0) {
                 _drivers[i]._driver->init(i, true);
             } else {
                 _drivers[i]._driver->init(i, false);

libraries/AP_BoardConfig/AP_BoardConfig_CAN.h

@@ -88,9 +88,9 @@ public:
 
     static const struct AP_Param::GroupInfo var_info[];
 
-    int8_t get_slcan_serial() { return _slcan_sr; }
+    int8_t get_slcan_serial() { return _slcan._ser_port; }
-    uint8_t get_slcan_timeout() { return _slcan_to; }
+    uint8_t get_slcan_timeout() { return _slcan._timeout; }
-    void reset_slcan_serial() { _slcan_sr.set_and_save_ifchanged(-1); }
+    void reset_slcan_serial() { _slcan._ser_port.set_and_save_ifchanged(-1); }
 private:
     class Interface {
         friend class AP_BoardConfig_CAN;
@@ -130,12 +130,26 @@ private:
         AP_HAL::CANProtocol* _tcan;
     };
 
+    class SLCAN_Interface {
+        friend class AP_BoardConfig_CAN;
+
+    public:
+        SLCAN_Interface() {
+            AP_Param::setup_object_defaults(this, var_info);
+        }
+
+        static const struct AP_Param::GroupInfo var_info[];
+
+    private:
+        AP_Int8 _can_port;
+        AP_Int8 _ser_port;
+        AP_Int16 _timeout;
+    };
+
     Interface _interfaces[MAX_NUMBER_OF_CAN_INTERFACES];
     Driver _drivers[MAX_NUMBER_OF_CAN_DRIVERS];
+    SLCAN_Interface _slcan;
     uint8_t _num_drivers;
-    AP_Int8 _slcan_rt;
-    AP_Int8 _slcan_sr;
-    AP_Int8 _slcan_to;
     static AP_BoardConfig_CAN *_singleton;
 };
 

libraries/AP_BoardConfig/canbus_slcan.cpp

@@ -0,0 +1,49 @@
+/*
+ * This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <AP_HAL/AP_HAL.h>
+
+#if HAL_WITH_UAVCAN
+#include "AP_BoardConfig_CAN.h"
+
+const AP_Param::GroupInfo AP_BoardConfig_CAN::SLCAN_Interface::var_info[] = {
+    // @Param: CPORT
+    // @DisplayName: SLCAN Route
+    // @Description: CAN Driver ID to be routed to SLCAN, 0 means no routing
+    // @Values: 0:Disabled,1:First driver,2:Second driver
+    // @User: Standard
+    // @RebootRequired: True
+    AP_GROUPINFO("CPORT", 1, AP_BoardConfig_CAN::SLCAN_Interface, _can_port, 1),
+
+    // @Param: SERNUM
+    // @DisplayName: SLCAN Serial Port
+    // @Description: Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial
+    // @Values: -1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6
+    // @User: Standard
+    // @RebootRequired: True
+    AP_GROUPINFO("SERNUM", 2, AP_BoardConfig_CAN::SLCAN_Interface, _ser_port, -1),
+
+
+    // @Param: TIMOUT
+    // @DisplayName: SLCAN Timeout
+    // @Description: Duration of inactivity after which SLCAN in seconds
+    // @Range: 0 32767
+    // @User: Standard
+    AP_GROUPINFO("TIMOUT", 3, AP_BoardConfig_CAN::SLCAN_Interface, _timeout, 0),
+
+    AP_GROUPEND
+};
+
+#endif