diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index e18d3137065f3..584976563ce3f 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -438,22 +438,24 @@ def configure_env(self, cfg, env):
                 '-Wl,--gc-sections',
             ]
 
-        if self.with_can and not cfg.env.AP_PERIPH:
-            env.AP_LIBRARIES += [
-                'AP_DroneCAN',
-                'modules/DroneCAN/libcanard/*.c',
-                ]
-            if cfg.options.enable_dronecan_tests:
+        if self.with_can:
+            # for both AP_Perip and main fw enable deadlines
+            env.DEFINES.update(CANARD_ENABLE_DEADLINE = 1)
+
+            if not cfg.env.AP_PERIPH:
+                env.AP_LIBRARIES += [
+                    'AP_DroneCAN',
+                    'modules/DroneCAN/libcanard/*.c',
+                    ]
+                if cfg.options.enable_dronecan_tests:
+                    env.DEFINES.update(AP_TEST_DRONECAN_DRIVERS = 1)
+
                 env.DEFINES.update(
-                    AP_TEST_DRONECAN_DRIVERS = 1
+                    DRONECAN_CXX_WRAPPERS = 1,
+                    USE_USER_HELPERS = 1,
+                    CANARD_ALLOCATE_SEM=1
                 )
 
-            env.DEFINES.update(
-                DRONECAN_CXX_WRAPPERS = 1,
-                USE_USER_HELPERS = 1,
-                CANARD_ENABLE_DEADLINE = 1,
-                CANARD_ALLOCATE_SEM=1
-            )
 
 
         if cfg.options.build_dates:
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 819b3474c540f..1ead8ed05298f 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -468,6 +468,20 @@ def setup_canmgr_build(cfg):
 
     cfg.get_board().with_can = True
 
+def setup_canperiph_build(cfg):
+    '''enable CAN build for peripherals'''
+    env = cfg.env
+    env.DEFINES += [
+        'CANARD_ENABLE_DEADLINE=1',
+        ]
+
+    if cfg.env.HAL_CANFD_SUPPORTED:
+        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
+    else:
+        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
+
+    cfg.get_board().with_can = True
+    
 def load_env_vars(env):
     '''optionally load extra environment variables from env.py in the build directory'''
     print("Checking for env.py")
@@ -578,6 +592,8 @@ def bldpath(path):
     load_env_vars(cfg.env)
     if env.HAL_NUM_CAN_IFACES and not env.AP_PERIPH:
         setup_canmgr_build(cfg)
+    if env.HAL_NUM_CAN_IFACES and env.AP_PERIPH and not env.BOOTLOADER:
+        setup_canperiph_build(cfg)
     if env.HAL_NUM_CAN_IFACES and env.AP_PERIPH and int(env.HAL_NUM_CAN_IFACES)>1 and not env.BOOTLOADER:
         env.DEFINES += [ 'CANARD_MULTI_IFACE=1' ]
     setup_optimization(cfg.env)