diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index d8967f13de..c7e08ff8df 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -216,7 +216,11 @@
 #endif
 
 #ifndef HAL_MAX_CAN_PROTOCOL_DRIVERS
-#define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES
+#if defined(HAL_BUILD_AP_PERIPH)
+    #define HAL_MAX_CAN_PROTOCOL_DRIVERS 0
+#else
+    #define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES
+#endif
 #endif
 
 #ifndef HAL_ENABLE_LIBUAVCAN_DRIVERS