HAL_ChibiOS: disable SLCAN for minimize feature enabled

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;

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>
 

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();