diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index fc90bd369a..aeec08bf32 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -213,7 +213,7 @@ static void main_loop()
     ChibiOS::I2CBus::clear_all();
 #endif
 
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
     ChibiOS::Shared_DMA::init();
 #endif
 
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index c24f79ccda..ce549da5fc 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -224,7 +224,7 @@ __RAMFUNC__ void RCOutput::dshot_update_tick(void* p)
     chSysUnlockFromISR();
 }
 
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
 // release locks on the groups that are pending in reverse order
 void RCOutput::dshot_collect_dma_locks(uint32_t time_out_us)
 {
@@ -279,7 +279,7 @@ void RCOutput::dshot_collect_dma_locks(uint32_t time_out_us)
         }
     }
 }
-#endif // HAL_NO_SHARED_DMA
+#endif // AP_HAL_SHARED_DMA_ENABLED
 
 /*
   setup the output frequency for a group and start pwm output
diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 34d7fc70e2..9f7eede326 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -461,7 +461,7 @@ __RAMFUNC__ void Util::thread_info(ExpandingString &str)
 // request information on dma contention
 void Util::dma_info(ExpandingString &str)
 {
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
     ChibiOS::Shared_DMA::dma_info(str);
 #endif
 }
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat
index 2684fbf211..596dae6e45 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat
@@ -119,7 +119,7 @@ define HAL_NO_TIMER_THREAD
 define HAL_NO_RCIN_THREAD
 define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD
-define HAL_NO_SHARED_DMA
+define AP_HAL_SHARED_DMA_ENABLED 0
 
 #defined to turn off undef warnings
 define __FPU_PRESENT 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat
index 0a9416a9ae..2d45fa8b91 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat
@@ -119,7 +119,7 @@ define HAL_NO_TIMER_THREAD
 define HAL_NO_RCIN_THREAD
 define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD
-define HAL_NO_SHARED_DMA
+define AP_HAL_SHARED_DMA_ENABLED 0
 
 #defined to turn off undef warnings
 define __FPU_PRESENT 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 9e5bda8a15..1be49e5647 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1109,7 +1109,9 @@ def write_mcu_config(f):
 #define HAL_NO_TIMER_THREAD
 #define HAL_NO_RCOUT_THREAD
 #define HAL_NO_RCIN_THREAD
-#define HAL_NO_SHARED_DMA FALSE
+#ifndef AP_HAL_SHARED_DMA_ENABLED
+#define AP_HAL_SHARED_DMA_ENABLED 0
+#endif
 #define HAL_NO_ROMFS_SUPPORT TRUE
 #define CH_CFG_USE_TM FALSE
 #define CH_CFG_USE_REGISTRY FALSE
diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.cpp b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
index c9f4c98e92..2f6c8c7be8 100644
--- a/libraries/AP_HAL_ChibiOS/shared_dma.cpp
+++ b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
@@ -22,7 +22,7 @@
   code to handle sharing of DMA channels between peripherals
  */
 
-#if CH_CFG_USE_MUTEXES == TRUE && !defined(HAL_NO_SHARED_DMA)
+#if CH_CFG_USE_MUTEXES == TRUE && AP_HAL_SHARED_DMA_ENABLED
 
 #include <AP_Common/ExpandingString.h>
 
diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.h b/libraries/AP_HAL_ChibiOS/shared_dma.h
index 7bd0570831..0157c399b7 100644
--- a/libraries/AP_HAL_ChibiOS/shared_dma.h
+++ b/libraries/AP_HAL_ChibiOS/shared_dma.h
@@ -23,7 +23,7 @@
 // DMA stream ID for stream_id2 when only one is needed
 #define SHARED_DMA_NONE 255
 
-#ifndef HAL_NO_SHARED_DMA
+#if AP_HAL_SHARED_DMA_ENABLED
 
 class ChibiOS::Shared_DMA
 {
@@ -114,4 +114,4 @@ private:
     } *_contention_stats;
 };
 
-#endif // HAL_NO_SHARED_DMA
+#endif // AP_HAL_SHARED_DMA_ENABLED