From aa0b119806b58c00ed09321bd5b77ca06e2562be Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 10 Jul 2023 19:56:53 +1000
Subject: [PATCH] HAL_ChibiOS: disable CANFD bits if CANFD not enabled

cannot support CANFD receive on G4
---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index ac350d2d87..5223b773a8 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -721,7 +721,9 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
 #endif
     can_->ILE = 0x3;
 
+#if HAL_CANFD_SUPPORTED
     can_->CCCR |= FDCAN_CCCR_FDOE | FDCAN_CCCR_BRSE; // enable sending CAN FD frames, and Bitrate switching
+#endif
 
     // If mode is Filtered then we finish the initialisation in configureFilter method
     // otherwise we finish here