From 9821d52b72f539102c2238ca507d14c9628bedef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 9 Dec 2019 15:47:42 +1100
Subject: [PATCH] AP_PiccoloCAN: added selective build of PiccoloCAN

---
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 7 ++++---
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.h   | 7 +++++++
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index 25b590ec0a..844af6654b 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -19,10 +19,10 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
 
-#if HAL_WITH_UAVCAN
-
 #include "AP_PiccoloCAN.h"
 
+#if HAL_PICCOLO_CAN_ENABLE
+
 #include <uavcan/uavcan.hpp>
 #include <uavcan/driver/can.hpp>
 
@@ -621,4 +621,5 @@ uint32_t getESCVelocityPacketID(const void* pkt)
 }
 
 
-#endif // HAL_WITH_UAVCAN
+#endif // HAL_PICCOLO_CAN_ENABLE
+
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
index 08be6c669c..feb95ca7ca 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -27,6 +27,11 @@
 #define PICCOLO_CAN_MAX_NUM_ESC 12
 #define PICCOLO_CAN_MAX_GROUP_ESC (PICCOLO_CAN_MAX_NUM_ESC / 4)
 
+#ifndef HAL_PICCOLO_CAN_ENABLE
+#define HAL_PICCOLO_CAN_ENABLE (HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES)
+#endif
+
+#if HAL_PICCOLO_CAN_ENABLE
 
 class AP_PiccoloCAN : public AP_HAL::CANProtocol
 {
@@ -118,3 +123,5 @@ private:
     } _esc_info[PICCOLO_CAN_MAX_NUM_ESC];
 
 };
+
+#endif // HAL_PICCOLO_CAN_ENABLE