Sub: move to using CANManager library

ArduSub/Parameters.cpp

@@ -490,10 +490,10 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
-#if HAL_WITH_UAVCAN
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
     // @Group: CAN_
-    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
-    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
+    // @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
+    GOBJECT(can_mgr,        "CAN_",       AP_CANManager),
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

ArduSub/Parameters.h

@@ -66,7 +66,7 @@ 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,
+        k_param_can_mgr,
 
         // Sensor objects
         k_param_ins = 30, // AP_InertialSensor

ArduSub/system.cpp

@@ -15,8 +15,8 @@ static void failsafe_check_static()
 void Sub::init_ardupilot()
 {
     BoardConfig.init();
-#if HAL_WITH_UAVCAN
-    BoardConfig_CAN.init();
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+    can_mgr.init();
 #endif
 
 #if AP_FEATURE_BOARD_DETECT