diff --git a/libraries/AP_CANManager/AP_CANSensor.cpp b/libraries/AP_CANManager/AP_CANSensor.cpp
index 025dfd8036..8e300eba09 100644
--- a/libraries/AP_CANManager/AP_CANSensor.cpp
+++ b/libraries/AP_CANManager/AP_CANSensor.cpp
@@ -127,7 +127,7 @@ bool CANSensor::add_interface(AP_HAL::CANIface* can_iface)
         return false;
     }
 
-    if (!_can_iface->set_event_handle(&_event_handle)) {
+    if (!_can_iface->set_event_handle(&sem_handle)) {
         debug_can(AP_CANManager::LOG_ERROR, "Cannot add event handle");
         return false;
     }
diff --git a/libraries/AP_CANManager/AP_CANSensor.h b/libraries/AP_CANManager/AP_CANSensor.h
index e340b71fac..2cd775f4c3 100644
--- a/libraries/AP_CANManager/AP_CANSensor.h
+++ b/libraries/AP_CANManager/AP_CANSensor.h
@@ -77,7 +77,7 @@ private:
     bool is_aux_11bit_driver;
 
     AP_CANDriver *_can_driver;
-    HAL_EventHandle _event_handle;
+    HAL_BinarySemaphore sem_handle;
     AP_HAL::CANIface* _can_iface;
 
 #ifdef HAL_BUILD_AP_PERIPH
diff --git a/libraries/AP_CANManager/AP_SLCANIface.cpp b/libraries/AP_CANManager/AP_SLCANIface.cpp
index dcd04dcff1..496e8850ed 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.cpp
+++ b/libraries/AP_CANManager/AP_SLCANIface.cpp
@@ -561,11 +561,11 @@ void SLCAN::CANIface::update_slcan_port()
     }
 }
 
-bool SLCAN::CANIface::set_event_handle(AP_HAL::EventHandle* evt_handle)
+bool SLCAN::CANIface::set_event_handle(AP_HAL::BinarySemaphore *sem_handle)
 {
     // When in passthrough mode methods is handled through can iface
     if (_can_iface) {
-        return _can_iface->set_event_handle(evt_handle);
+        return _can_iface->set_event_handle(sem_handle);
     }
     return false;
 }
diff --git a/libraries/AP_CANManager/AP_SLCANIface.h b/libraries/AP_CANManager/AP_SLCANIface.h
index 2f3f35382c..a15ac4f588 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.h
+++ b/libraries/AP_CANManager/AP_SLCANIface.h
@@ -111,7 +111,7 @@ public:
     void reset_params();
 
     // Overriden methods
-    bool set_event_handle(AP_HAL::EventHandle* evt_handle) override;
+    bool set_event_handle(AP_HAL::BinarySemaphore *sem_handle) override;
     uint16_t getNumFilters() const override;
     uint32_t getErrorCount() const override;
     void get_stats(ExpandingString &) override;