diff --git a/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp b/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
index 48440d11af..2dac476a1f 100644
--- a/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
@@ -17,7 +17,7 @@
 
 #include "CANSerialRouter.h"
 
-#if HAL_WITH_UAVCAN
+#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 SLCANRouter* SLCANRouter::_singleton = nullptr;
diff --git a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
index 8db7c0b122..6ee2622c8f 100644
--- a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
+++ b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
@@ -19,7 +19,7 @@
 
 #include "AP_HAL_ChibiOS.h"
 
-#if HAL_WITH_UAVCAN
+#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
 #include "CAN.h"
 #include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>
 
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index ec296df5e6..9f74cb6cba 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -759,8 +759,9 @@ void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t ut
      * Store with timeout into the FIFO buffer and signal update event
      */
     rx_queue_.push(frame, utc_usec, 0);
+ #if !HAL_MINIMIZE_FEATURES
     slcan_router().route_frame_to_slcan(this, frame, utc_usec);
-
+#endif
     had_activity_ = true;
     update_event_.signalFromInterrupt();