From 7314b515c0d76fcd98cf704634d567a549a8702a Mon Sep 17 00:00:00 2001
From: Eugene Shamaev <Eugene.Shamaev@gmail.com>
Date: Sat, 6 May 2017 12:12:08 +0300
Subject: [PATCH] ArduSub: move of CAN parameters into separate group

---
 ArduSub/Parameters.cpp | 6 ++++++
 ArduSub/Parameters.h   | 2 +-
 ArduSub/Sub.h          | 6 ++++++
 ArduSub/system.cpp     | 3 +++
 4 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index f1217f5251..13a3e031d3 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -624,6 +624,12 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
+#if HAL_WITH_UAVCAN
+    // @Group: CAN_
+    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     GOBJECT(sitl, "SIM_", SITL::SITL),
 #endif
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index c583c5c509..e1edad14d2 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -69,7 +69,7 @@ public:
         k_param_serial_manager, // Serial ports, AP_SerialManager
         k_param_notify, // Notify Library, AP_Notify
         k_param_arming = 26, // Arming checks
-
+        k_param_BoardConfig_CAN,
 
         // Sensor objects
         k_param_ins = 30, // AP_InertialSensor
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index d4417a3b1b..8f843a300d 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -69,6 +69,7 @@
 #include <AP_Notify/AP_Notify.h>          // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
 #include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
 #include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
@@ -251,6 +252,11 @@ private:
     // board specific config
     AP_BoardConfig BoardConfig;
 
+#if HAL_WITH_UAVCAN
+    // board specific config for CAN bus
+    AP_BoardConfig_CAN BoardConfig_CAN;
+#endif
+
     // Failsafe
     struct {
         uint8_t pilot_input          : 1; // true if pilot input failsafe is active, handles things like joystick being disconnected during operation
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 714e619241..d3aa199c98 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -31,6 +31,9 @@ void Sub::init_ardupilot()
     load_parameters();
 
     BoardConfig.init();
+#if HAL_WITH_UAVCAN
+    BoardConfig_CAN.init();
+#endif
 
     // identify ourselves correctly with the ground station
     mavlink_system.sysid = g.sysid_this_mav;