diff --git a/libraries/AP_HAL_ChibiOS/CANClock.cpp b/libraries/AP_HAL_ChibiOS/CANClock.cpp
index 5c31711c2c..8b7c547aec 100644
--- a/libraries/AP_HAL_ChibiOS/CANClock.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANClock.cpp
@@ -38,6 +38,9 @@
  * Modified for Ardupilot by Siddharth Bharat Purohit
  */
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
 #include "CANClock.h"
 #include "CANThread.h"
 #include "CANInternal.h"
@@ -406,3 +409,4 @@ UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler)
 }
 
 #endif
+#endif //HAL_WITH_UAVCAN
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/CANClock.h b/libraries/AP_HAL_ChibiOS/CANClock.h
index cd8ec9db27..3e20f41b6e 100644
--- a/libraries/AP_HAL_ChibiOS/CANClock.h
+++ b/libraries/AP_HAL_ChibiOS/CANClock.h
@@ -40,6 +40,9 @@
 
 #pragma once
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
 #include <uavcan/driver/system_clock.hpp>
 
 namespace ChibiOS_CAN {
@@ -159,3 +162,4 @@ public:
 };
 
 }
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
index a42b741c28..761c57d0ac 100644
--- a/libraries/AP_HAL_ChibiOS/CANIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -40,6 +40,10 @@
 
 #pragma once
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
+
 #include "CANThread.h"
 #include "CANIface.h"
 #include "bxcan.hpp"
@@ -440,3 +444,5 @@ public:
 }
 
 #include "CANSerialRouter.h"
+
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/CANInternal.h b/libraries/AP_HAL_ChibiOS/CANInternal.h
index aeec9c3741..33ccddad20 100644
--- a/libraries/AP_HAL_ChibiOS/CANInternal.h
+++ b/libraries/AP_HAL_ChibiOS/CANInternal.h
@@ -40,6 +40,10 @@
 
 #pragma once
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
+
 #include <hal.h>
 #include <ch.h>
 /**
@@ -97,3 +101,5 @@ namespace clock {
 uint64_t getUtcUSecFromCanInterrupt();
 }
 }
+
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/CANThread.cpp b/libraries/AP_HAL_ChibiOS/CANThread.cpp
index d1532f2955..64b498a565 100644
--- a/libraries/AP_HAL_ChibiOS/CANThread.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANThread.cpp
@@ -38,6 +38,9 @@
  * Modified for Ardupilot by Siddharth Bharat Purohit
  */
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
 #include "CANThread.h"
 #include "CANClock.h"
 #include "CANIface.h"
@@ -115,3 +118,5 @@ void Mutex::unlock()
 }
 
 }
+
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/CANThread.h b/libraries/AP_HAL_ChibiOS/CANThread.h
index def2752aa2..16e320b19b 100644
--- a/libraries/AP_HAL_ChibiOS/CANThread.h
+++ b/libraries/AP_HAL_ChibiOS/CANThread.h
@@ -40,6 +40,10 @@
 
 #pragma once
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
+
 # include <ch.hpp>
 
 #include <uavcan/uavcan.hpp>
@@ -89,3 +93,5 @@ public:
 };
 
 }
+
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 601f938be8..ec296df5e6 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -38,6 +38,9 @@
  * Code by Siddharth Bharat Purohit
  */
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
 #include <cassert>
 #include <cstring>
 #include "CANIface.h"
@@ -1242,3 +1245,5 @@ UAVCAN_STM32_IRQ_HANDLER(CAN2_RX1_IRQHandler)
 # endif
 
 } // extern "C"
+
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/bxcan.hpp b/libraries/AP_HAL_ChibiOS/bxcan.hpp
index 75830cc0a9..334009e9e4 100644
--- a/libraries/AP_HAL_ChibiOS/bxcan.hpp
+++ b/libraries/AP_HAL_ChibiOS/bxcan.hpp
@@ -40,6 +40,10 @@
 
 #pragma once
 
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
+
 #include <uavcan_stm32/build_config.hpp>
 
 #include <uavcan/uavcan.hpp>
@@ -322,3 +326,4 @@ constexpr unsigned long FMR_FINIT =           (1U << 0); /* Bit 0:  Filter Init
 #if UAVCAN_CPP_VERSION < UAVCAN_CPP11
 # undef constexpr
 #endif
+#endif //HAL_WITH_UAVCAN
\ No newline at end of file