diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 017b3409b4..7d008f11c9 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -16,8 +16,8 @@
 #include "AP_ESC_Telem.h"
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_WITH_UAVCAN
-  #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+  #include <AP_CANManager/AP_CANManager.h>
   #include <AP_Common/AP_Common.h>
   #include <AP_Vehicle/AP_Vehicle.h>
   #include <AP_UAVCAN/AP_UAVCAN.h>
@@ -38,10 +38,10 @@ AP_ESC_Telem::AP_ESC_Telem()
 // get an individual ESC's usage time in seconds if available, returns true on success
 bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_id, uint32_t& usage_sec) const
 {
-#if HAL_WITH_UAVCAN
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
     const uint8_t num_drivers = AP::can().get_num_drivers();
     for (uint8_t i = 0; i < num_drivers; i++) {
-        if (AP::can().get_protocol_type(i) == AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
+        if (AP::can().get_driver_type(i) == AP_CANManager::Driver_Type_ToshibaCAN) {
             AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(i);
             if (tcan != nullptr) {
                 usage_sec = tcan->get_usage_seconds(esc_id);