ardupilotwaf: set flags for CANFD support as applicable

Tools/ardupilotwaf/boards.py

@@ -937,6 +937,12 @@ class chibios(Board):
             ('10','2','1'),
         ]
 
+        if cfg.env.AP_PERIPH:
+            if cfg.env.HAL_CANFD_SUPPORTED:
+                env.DEFINES.update(CANARD_ENABLE_CANFD=1)
+            else:
+                env.DEFINES.update(CANARD_ENABLE_CANFD=0)
+
         if cfg.options.Werror or cfg.env.CC_VERSION in gcc_whitelist:
             cfg.msg("Enabling -Werror", "yes")
             if '-Werror' not in env.CXXFLAGS:

Tools/ardupilotwaf/chibios.py

@@ -360,6 +360,12 @@ def setup_canmgr_build(cfg):
         'UAVCAN_NULLPTR=nullptr'
         ]
 
+    if cfg.env.HAL_CANFD_SUPPORTED:
+        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
+    else:
+        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
+
+
     env.INCLUDES += [
         cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath(),
         ]