AP_HAL_ChibiOS: hwdef: add support for HAL CANIface based bootloader

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -645,11 +645,6 @@ 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 have_type_prefix('CAN') and not args.bootloader:
-        if 'CAN1' in bytype and 'CAN2' in bytype:
-            enable_can(f, 2)
-        else:
-            enable_can(f, 1)
 
     if get_config('PROCESS_STACK', required=False):
         env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
@@ -672,11 +667,20 @@ def write_mcu_config(f):
         env_vars['PERIPH_FW'] = 0
 
     # write any custom STM32 defines
+    using_chibios_can = False
     for d in alllines:
         if d.startswith('STM32_'):
             f.write('#define %s\n' % d)
         if d.startswith('define '):
+            if 'HAL_USE_CAN' in d:
+                using_chibios_can = True
             f.write('#define %s\n' % d[7:])
+
+    if have_type_prefix('CAN') and not using_chibios_can:
+        if 'CAN1' in bytype and 'CAN2' in bytype:
+            enable_can(f, 2)
+        else:
+            enable_can(f, 1)
     flash_size = get_config('FLASH_SIZE_KB', type=int)
     f.write('#define BOARD_FLASH_SIZE %u\n' % flash_size)
     env_vars['BOARD_FLASH_SIZE'] = flash_size