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[paparazzi-commits] [5052] Initial commit for lisa CAN bus support.
|
From: |
Piotr Esden-Tempski |
|
Subject: |
[paparazzi-commits] [5052] Initial commit for lisa CAN bus support. |
|
Date: |
Thu, 15 Jul 2010 17:22:33 +0000 |
Revision: 5052
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5052
Author: esden
Date: 2010-07-15 17:22:32 +0000 (Thu, 15 Jul 2010)
Log Message:
-----------
Initial commit for lisa CAN bus support.
Modified Paths:
--------------
paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/can.c
paparazzi3/trunk/sw/airborne/can.h
paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c
paparazzi3/trunk/sw/airborne/stm32/can_hw.c
paparazzi3/trunk/sw/airborne/stm32/can_hw.c.bak
paparazzi3/trunk/sw/airborne/stm32/can_hw.h
Modified: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-07-15
04:30:48 UTC (rev 5051)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-07-15
17:22:32 UTC (rev 5052)
@@ -841,3 +841,23 @@
ptw.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ptw.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
ptw.CFLAGS += -DUSE_I2C1
+
+#
+# test csc servo
+#
+test_csc_servo.ARCHDIR = $(ARCHI)
+test_csc_servo.TARGET = test_csc_servo
+test_csc_servo.TARGETDIR = test_csc_servo
+test_csc_servo.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
+test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_csc_servo.srcs = $(SRC_LISA)/test_csc_servo.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_csc_servo.CFLAGS += -DUSE_LED
+test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c
+test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+#test_csc_servo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_csc_servo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./10.)'
+test_csc_servo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_csc_servo.CFLAGS += -DUSE_CAN1
+test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c
Added: paparazzi3/trunk/sw/airborne/can.c
===================================================================
--- paparazzi3/trunk/sw/airborne/can.c (rev 0)
+++ paparazzi3/trunk/sw/airborne/can.c 2010-07-15 17:22:32 UTC (rev 5052)
@@ -0,0 +1,44 @@
+/*
+ * $Id:$
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include <stdint.h>
+
+#include "can.h"
+#include "can_hw.h"
+
+void can_init(void)
+{
+ can_hw_init();
+}
+
+static inline uint16_t can_id(uint8_t client_id, uint8_t msg_id)
+{
+ return ((client_id & 0xF) << 7) | (msg_id & 0x7F);
+}
+
+int can_transmit(uint8_t client_id, uint8_t msg_id, const uint8_t *buf,
uint8_t len)
+{
+ uint16_t id = can_id(client_id, msg_id);
+ return can_hw_transmit(id, buf, len);
+}
Added: paparazzi3/trunk/sw/airborne/can.h
===================================================================
--- paparazzi3/trunk/sw/airborne/can.h (rev 0)
+++ paparazzi3/trunk/sw/airborne/can.h 2010-07-15 17:22:32 UTC (rev 5052)
@@ -0,0 +1,31 @@
+/*
+ * $Id:$
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef CAN_H
+#define CAN_H
+
+void can_init(void);
+int can_transmit(uint8_t client_id, uint8_t msg_id, const uint8_t *buf,
uint8_t len);
+
+#endif /* CAN_H */
Added: paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c 2010-07-15 17:22:32 UTC
(rev 5052)
@@ -0,0 +1,66 @@
+/*
+ * $Id:$
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+
+#include "init_hw.h"
+#include "sys_time.h"
+#include "can.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+uint16_t servos[4];
+
+int main(void) {
+ main_init();
+
+ while(1) {
+ if (sys_time_periodic())
+ main_periodic_task();
+ main_event_task();
+ }
+
+ return 0;
+}
+
+static inline void main_init( void ) {
+ hw_init();
+ sys_time_init();
+ can_init();
+}
+
+static inline void main_periodic_task( void ) {
+
+ can_transmit(1, 0, (uint8_t *)servos, 1);
+
+ LED_TOGGLE(2);
+
+ LED_PERIODIC();
+}
+
+
+
+static inline void main_event_task( void ) {
+
+}
Added: paparazzi3/trunk/sw/airborne/stm32/can_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.c (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.c 2010-07-15 17:22:32 UTC (rev
5052)
@@ -0,0 +1,149 @@
+/*
+ * $Id:$
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include <stdint.h>
+#include <string.h>
+
+#include "can_hw.h"
+
+#include <stm32/rcc.h>
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/can.h>
+
+#include "led.h"
+
+#define RCC_APB2Periph_GPIO_CAN RCC_APB2Periph_GPIOA
+#define GPIO_CAN GPIOA
+#define GPIO_Pin_CAN_RX GPIO_Pin_11
+#define GPIO_Pin_CAN_TX GPIO_Pin_12
+
+CanTxMsg can_tx_msg;
+RCC_ClocksTypeDef rcc_clocks;
+
+void can_hw_init(void)
+{
+ GPIO_InitTypeDef gpio;
+ NVIC_InitTypeDef nvic;
+ CAN_InitTypeDef can;
+ CAN_FilterInitTypeDef can_filter;
+
+ /* Enable peripheral clocks */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |
+ RCC_APB2Periph_GPIOA, ENABLE);
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
+ //RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |
+ // RCC_APB2Periph_GPIO_CAN, ENABLE);
+ //RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
+
+ /* Configure CAN pin: RX */
+ gpio.GPIO_Pin = GPIO_Pin_11;
+ gpio.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_Init(GPIOA, &gpio);
+
+ /* Configure CAN pin: TX */
+ gpio.GPIO_Pin = GPIO_Pin_12;
+ gpio.GPIO_Mode = GPIO_Mode_AF_PP;
+ gpio.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOA, &gpio);
+
+ /* NVIC configuration */
+ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
+
+ nvic.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
+ nvic.NVIC_IRQChannelPreemptionPriority = 0x00;
+ nvic.NVIC_IRQChannelSubPriority = 0x00;
+ nvic.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&nvic);
+
+ /* get rcc clocks */
+ RCC_GetClocksFreq(&rcc_clocks);
+
+ /* CAN register init */
+ CAN_DeInit(CAN1);
+ CAN_StructInit(&can);
+
+ /* CAN cell init */
+ can.CAN_TTCM = DISABLE;
+ can.CAN_ABOM = DISABLE;
+ can.CAN_AWUM = DISABLE;
+ can.CAN_NART = DISABLE;
+ can.CAN_RFLM = DISABLE;
+ can.CAN_TXFP = DISABLE;
+ can.CAN_Mode = CAN_Mode_Normal;
+ can.CAN_SJW = CAN_SJW_1tq;
+ can.CAN_BS1 = CAN_BS1_3tq;
+ can.CAN_BS2 = CAN_BS2_5tq;
+ can.CAN_Prescaler = 4;
+ CAN_Init(CAN1, &can);
+
+ /* CAN filter init */
+ can_filter.CAN_FilterNumber = 0;
+ can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
+ can_filter.CAN_FilterScale = CAN_FilterScale_32bit;
+ can_filter.CAN_FilterIdHigh = 0x0000;
+ can_filter.CAN_FilterIdLow = 0x0000;
+ can_filter.CAN_FilterMaskIdHigh = 0x0000;
+ can_filter.CAN_FilterMaskIdLow = 0x0000;
+ can_filter.CAN_FilterFIFOAssignment = 0;
+ can_filter.CAN_FilterActivation = ENABLE;
+ CAN_FilterInit(&can_filter);
+
+ /* transmit struct init */
+ can_tx_msg.StdId = 0x321;
+ can_tx_msg.ExtId = 0x01;
+ can_tx_msg.RTR = CAN_RTR_DATA;
+ can_tx_msg.IDE = CAN_ID_STD;
+ can_tx_msg.DLC = 1;
+
+ CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
+
+ can_tx_msg.Data[0] = 0x55;
+
+ CAN_Transmit(CAN1, &can_tx_msg);
+}
+
+int can_hw_transmit(uint16_t id, const uint8_t *buf, uint8_t len)
+{
+ if(len > 8){
+ return -1;
+ }
+
+// can_tx_msg.StdId = id >> 8;
+// can_tx_msg.ExtId = id & 0xFF;
+// can_tx_msg.DLC = len;
+// memcpy(&can_tx_msg.Data, buf, len);
+//
+// CAN_Transmit(CAN1, &can_tx_msg);
+
+ //can_tx_msg.StdId = 0;
+ //can_tx_msg.ExtId = 0x1234;
+ //can_tx_msg.DLC = 1;
+ //can_tx_msg.Data[0] = 0x55;
+
+ CAN_Transmit(CAN1, &can_tx_msg);
+
+ return 0;
+}
Added: paparazzi3/trunk/sw/airborne/stm32/can_hw.c.bak
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.c.bak
(rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.c.bak 2010-07-15 17:22:32 UTC
(rev 5052)
@@ -0,0 +1,143 @@
+/*
+ * $Id:$
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include <stdint.h>
+#include <string.h>
+
+#include "can_hw.h"
+
+#include <stm32/rcc.h>
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/can.h>
+
+#include "led.h"
+
+#define RCC_APB2Periph_GPIO_CAN RCC_APB2Periph_GPIOA
+#define GPIO_CAN GPIOA
+#define GPIO_Pin_CAN_RX GPIO_Pin_11
+#define GPIO_Pin_CAN_TX GPIO_Pin_12
+
+CanTxMsg can_tx_msg;
+
+void can_hw_init(void)
+{
+ GPIO_InitTypeDef gpio;
+ NVIC_InitTypeDef nvic;
+ CAN_InitTypeDef can;
+ CAN_FilterInitTypeDef can_filter;
+
+ /* Enable peripheral clocks */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |
+ RCC_APB2Periph_GPIO_CAN, ENABLE);
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
+
+ /* Configure CAN pin: RX */
+ gpio.GPIO_Pin = GPIO_Pin_CAN_RX;
+ gpio.GPIO_Mode = GPIO_Mode_IPU;
+ gpio.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIO_CAN, &gpio);
+
+ /* Configure CAN pin: TX */
+ gpio.GPIO_Pin = GPIO_Pin_CAN_TX;
+ gpio.GPIO_Mode = GPIO_Mode_AF_PP;
+ gpio.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIO_CAN, &gpio);
+
+ /* NVIC configuration */
+ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
+
+ nvic.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
+ nvic.NVIC_IRQChannelPreemptionPriority = 0x00;
+ nvic.NVIC_IRQChannelSubPriority = 0x00;
+ nvic.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&nvic);
+
+ /* CAN register init */
+ CAN_DeInit(CAN1);
+ CAN_StructInit(&can);
+
+ /* CAN cell init */
+ can.CAN_TTCM = DISABLE;
+ can.CAN_ABOM = DISABLE;
+ can.CAN_AWUM = DISABLE;
+ can.CAN_NART = DISABLE;
+ can.CAN_RFLM = DISABLE;
+ can.CAN_TXFP = DISABLE;
+ can.CAN_Mode = CAN_Mode_Normal;
+ can.CAN_SJW = CAN_SJW_1tq;
+ can.CAN_BS1 = CAN_BS1_3tq;
+ can.CAN_BS2 = CAN_BS2_5tq;
+ can.CAN_Prescaler = 4;
+ CAN_Init(CAN1, &can);
+
+ /* CAN filter init */
+ can_filter.CAN_FilterNumber = 0;
+ can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
+ can_filter.CAN_FilterScale = CAN_FilterScale_32bit;
+ can_filter.CAN_FilterIdHigh = 0x0000;
+ can_filter.CAN_FilterIdLow = 0x0000;
+ can_filter.CAN_FilterMaskIdHigh = 0x0000;
+ can_filter.CAN_FilterMaskIdLow = 0x0000;
+ can_filter.CAN_FilterFIFOAssignment = 0;
+ can_filter.CAN_FilterActivation = ENABLE;
+ CAN_FilterInit(&can_filter);
+
+ /* transmit struct init */
+ can_tx_msg.StdId = 0x321;
+ can_tx_msg.ExtId = 0x00;
+ can_tx_msg.RTR = CAN_RTR_DATA;
+ can_tx_msg.IDE = CAN_ID_STD;
+ can_tx_msg.DLC = 1;
+
+ CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
+
+ can_tx_msg.Data[0] = 0x55;
+
+ CAN_Transmit(CAN1, &can_tx_msg);
+}
+
+int can_hw_transmit(uint16_t id, const uint8_t *buf, uint8_t len)
+{
+ if(len > 8){
+ return -1;
+ }
+
+// can_tx_msg.StdId = id >> 8;
+// can_tx_msg.ExtId = id & 0xFF;
+// can_tx_msg.DLC = len;
+// memcpy(&can_tx_msg.Data, buf, len);
+//
+// CAN_Transmit(CAN1, &can_tx_msg);
+
+ //can_tx_msg.StdId = 0;
+ //can_tx_msg.ExtId = 0x1234;
+ //can_tx_msg.DLC = 1;
+ //can_tx_msg.Data[0] = 0x55;
+
+ //CAN_Transmit(CAN1, &can_tx_msg);
+
+ return 0;
+}
Added: paparazzi3/trunk/sw/airborne/stm32/can_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.h (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.h 2010-07-15 17:22:32 UTC (rev
5052)
@@ -0,0 +1,31 @@
+/*
+ * $Id:$
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef CAN_HW_H
+#define CAN_HW_H
+
+void can_hw_init(void);
+int can_hw_transmit(uint16_t id, const uint8_t *buf, uint8_t len);
+
+#endif /* CAN_HW_H */
Modified: paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c 2010-07-15
04:30:48 UTC (rev 5051)
+++ paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c 2010-07-15
17:22:32 UTC (rev 5052)
@@ -122,7 +122,20 @@
#define TIM2_IRQ_HANDLER null_handler
#endif
+#ifdef USE_USB_HP_CAN1_TX_IRQ
+extern void usb_hp_can1_tx_irq_handler(void);
+#define USB_HP_CAN1_TX_IRQ_HANDLER usb_hp_can1_tx_irq_handler
+#else
+#define USB_HP_CAN1_TX_IRQ_HANDLER null_handler
+#endif
+#ifdef USE_USB_LP_CAN1_RX0_IRQ
+extern void usb_lp_can1_rx0_irq_handler(void);
+#define USB_LP_CAN1_RX0_IRQ_HANDLER usb_lp_can_rx0_irq_handler
+#else
+#define USB_LP_CAN1_RX0_IRQ_HANDLER null_handler
+#endif
+
/* addresses defined in the linker script */
extern unsigned long _etext; /* end addr of .text section */
extern unsigned long _sidata; /* init values for .data section */
@@ -171,8 +184,8 @@
null_handler, /* dma1_channel6_irq_handler */
null_handler, /* dma1_channel7_irq_handler */
null_handler, /* adc1_2_irq_handler */
- null_handler, /* usb_hp_can_tx_irq_handler */
- null_handler, /* usb_lp_can_rx0_irq_handler */
+ USB_HP_CAN1_TX_IRQ_HANDLER, /* usb_hp_can_tx_irq_handler */
+ USB_LP_CAN1_RX0_IRQ_HANDLER, /* usb_lp_can_rx0_irq_handler */
null_handler, /* can_rx1_irq_handler */
null_handler, /* can_sce_irq_handler */
null_handler, /* exti9_5_irq_handler */
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- [paparazzi-commits] [5052] Initial commit for lisa CAN bus support.,
Piotr Esden-Tempski <=