From 5bc65bb54e3094b30943ea55006b9dcd527263c2 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Mon, 17 May 2021 23:05:29 +0530
Subject: [PATCH] AP_HAL: set CANFrame max data length based on CANFD
 availability

---
 libraries/AP_HAL/CANIface.h      | 9 ++++++++-
 libraries/AP_HAL/board/chibios.h | 6 ------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL/CANIface.h b/libraries/AP_HAL/CANIface.h
index be0950802e..8246168da9 100644
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@@ -19,6 +19,7 @@
 
 #include <stdint.h>
 #include "AP_HAL_Namespace.h"
+#include "AP_HAL_Boards.h"
 
 class ExpandingString;
 
@@ -32,8 +33,13 @@ struct AP_HAL::CANFrame {
     static const uint32_t FlagRTR = 1U << 30;                  ///< Remote transmission request
     static const uint32_t FlagERR = 1U << 29;                  ///< Error frame
 
+#if HAL_CANFD_SUPPORTED
+    static const uint8_t NonFDCANMaxDataLen = 8;
     static const uint8_t MaxDataLen = 64;
-
+#else
+    static const uint8_t NonFDCANMaxDataLen = 8;
+    static const uint8_t MaxDataLen = 8;
+#endif
     uint32_t id;                ///< CAN ID with flags (above)
     union {
         uint8_t data[MaxDataLen];
@@ -138,6 +144,7 @@ struct AP_HAL::CANFrame {
         }
         return 64;
     }
+
     static uint8_t dataLengthToDlc(uint8_t data_length) {
         if (data_length <= 8) {
             return data_length;
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index 34b5726af2..fa3e48511e 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -128,9 +128,3 @@
 #ifndef HAL_BOARD_STORAGE_DIRECTORY
 #define HAL_BOARD_STORAGE_DIRECTORY "/APM"
 #endif
-
-#if defined(STM32H7XX) || defined(STM32G4)
-#define HAL_CANFD_SUPPORTED 1
-# else
-#define HAL_CANFD_SUPPORTED 0
-#endif