Tools: add and use option to compile SLCAN support out of code

Tools/AP_Periph/AP_Periph.h

@@ -118,7 +118,7 @@ public:
     static HALSITL::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES];
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_SLCAN
+#if AP_CAN_SLCAN_ENABLED
     static SLCAN::CANIface slcan_interface;
 #endif
 

Tools/AP_Periph/Parameters.cpp

@@ -85,7 +85,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @RebootRequired: True
     GARRAY(can_baudrate,     0, "CAN_BAUDRATE", 1000000),
 
-#ifdef HAL_PERIPH_ENABLE_SLCAN
+#if AP_CAN_SLCAN_ENABLED
     // @Param: CAN_SLCAN_CPORT
     // @DisplayName: SLCAN Route
     // @Description: CAN Interface ID to be routed to SLCAN, 0 means no routing

Tools/AP_Periph/Parameters.h

@@ -80,7 +80,7 @@ public:
     AP_Enum<AP_CANManager::Driver_Type> can_protocol[HAL_NUM_CAN_IFACES];
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_SLCAN
+#if AP_CAN_SLCAN_ENABLED
     AP_Int8 can_slcan_cport;
 #endif
 

Tools/AP_Periph/can.cpp

@@ -172,7 +172,7 @@ ChibiOS::CANIface* AP_Periph_FW::can_iface_periph[HAL_NUM_CAN_IFACES];
 HALSITL::CANIface* AP_Periph_FW::can_iface_periph[HAL_NUM_CAN_IFACES];
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_SLCAN
+#if AP_CAN_SLCAN_ENABLED
 SLCAN::CANIface AP_Periph_FW::slcan_interface;
 #endif
 
@@ -1537,7 +1537,7 @@ void AP_Periph_FW::can_start()
         }
     }
 
-#ifdef HAL_PERIPH_ENABLE_SLCAN
+#if AP_CAN_SLCAN_ENABLED
     const uint8_t slcan_selected_index = g.can_slcan_cport - 1;
     if (slcan_selected_index < HAL_NUM_CAN_IFACES) {
         slcan_interface.set_can_iface(can_iface_periph[slcan_selected_index]);

Tools/ardupilotwaf/boards.py

@@ -778,6 +778,7 @@ class sitl_periph_gps(sitl):
             HAL_GENERATOR_ENABLED = 0,
             AP_STATS_ENABLED = 0,
             HAL_SUPPORT_RCOUT_SERIAL = 0,
+            AP_CAN_SLCAN_ENABLED = 0,
         )
         # libcanard is written for 32bit platforms
         env.CXXFLAGS += [