AP_Periph: add AP_KDECAN support

Tools/AP_Periph/AP_Periph.cpp

@@ -185,7 +185,11 @@ void AP_Periph_FW::init()
         }
     }
 #endif
-    
+
+#if AP_KDECAN_ENABLED
+    kdecan.init();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     const bool pins_enabled = ChibiOS::I2CBus::check_select_pins(0x01);

Tools/AP_Periph/AP_Periph.h

@@ -13,6 +13,7 @@
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_EFI/AP_EFI.h>
+#include <AP_KDECAN/AP_KDECAN.h>
 #include <AP_MSP/AP_MSP.h>
 #include <AP_MSP/msp.h>
 #include <AP_TemperatureSensor/AP_TemperatureSensor.h>
@@ -227,7 +228,11 @@ public:
     AP_EFI efi;
     uint32_t efi_update_ms;
 #endif
-    
+
+#if AP_KDECAN_ENABLED
+    AP_KDECAN kdecan;
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_RC_OUT
 #if HAL_WITH_ESC_TELEM
     AP_ESC_Telem esc_telem;

Tools/AP_Periph/Parameters.cpp

@@ -523,6 +523,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(nmea, "NMEA_",   AP_NMEA_Output),
 #endif
 
+#if AP_KDECAN_ENABLED
+    // @Group: KDE_
+    // @Path: ../libraries/AP_KDECAN/AP_KDECAN.cpp
+    GOBJECT(kdecan, "KDE_",   AP_KDECAN),
+#endif
+
     AP_VAREND
 };
 

Tools/AP_Periph/Parameters.h

@@ -70,6 +70,7 @@ public:
         k_param_proximity_port,
         k_param_proximity_max_rate,
         k_param_nmea,
+        k_param_kdecan,
     };
 
     AP_Int16 format_version;

Tools/AP_Periph/wscript

@@ -38,6 +38,7 @@ def build(bld):
                      'AP_BoardConfig',
                      'AP_BattMonitor',
                      'AP_CANManager',
+                     'AP_KDECAN',
                      'AP_Param',
                      'StorageManager',
                      'AP_FlashStorage',