HAL_ChibiOS: auto-enable CAN when pins are defined

libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat

@@ -450,9 +450,6 @@ define AP_FEATURE_RTSCTS 1
 # enable SBUS_OUT on IOMCU (if you have an IOMCU)
 define AP_FEATURE_SBUS_OUT 1
 
-# enable UAVCAN support if you have setup some CAN devices above
-define HAL_WITH_UAVCAN 1
-
 # now setup the default battery pins driver analog pins and default
 # scaling for the power brick
 define HAL_BATT_VOLT_PIN 2

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -277,6 +277,10 @@ def get_config(name, column=0, required=True, default=None, type=None):
             error("Badly formed config value %s (got %s)" % (name, ret))
     return ret
 
+def enable_can(f):
+    '''setup for a CAN enabled board'''
+    f.write('#define HAL_WITH_UAVCAN 1\n')
+    env_vars['HAL_WITH_UAVCAN'] = '1'
 
 def write_mcu_config(f):
     '''write MCU config defines'''
@@ -303,6 +307,8 @@ def write_mcu_config(f):
         f.write('#define HAL_USE_SERIAL_USB TRUE\n')
     if 'OTG2' in bytype:
         f.write('#define STM32_USB_USE_OTG2                  TRUE\n')
+    if 'CAN1' in bytype or 'CAN2' in bytype or 'CAN3' in bytype:
+        enable_can(f)
     # write any custom STM32 defines
     for d in alllines:
         if d.startswith('STM32_'):

libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat

@@ -12,8 +12,11 @@ undef USART3
 undef USART3_TX
 undef USART3_RX
 undef CAN1
+undef CAN1_RX
+undef CAN1_TX
 undef CAN2
-undef HAL_WITH_UAVCAN
+undef CAN2_RX
+undef CAN2_TX
 undef IOMCU_UART
 undef AP_FEATURE_SBUS_OUT
 undef HAL_OS_FATFS_IO