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  • avn/swd/skyward-boardcore
  • emilio.corigliano/skyward-boardcore
  • ettore.pane/skyward-boardcore
  • giulia.facchi/skyward-boardcore
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with 184 additions and 189 deletions
src/bsps/stm32f767zi_death_stack_v4/interfaces-impl/bsp.cpp
View file @ ef4e55b6
......@@ -232,73 +232,73 @@ void IRQbspInit()
userSwitch::mode(Mode::INPUT);
using namespace interfaces;
spi1::sck::mode(Mode::ALTERNATE);
spi1::sck::alternateFunction(5);
spi1::miso::mode(Mode::ALTERNATE);
spi1::sck::mode(Mode::ALTERNATE);
spi1::miso::alternateFunction(5);
spi1::mosi::mode(Mode::ALTERNATE);
spi1::miso::mode(Mode::ALTERNATE);
spi1::mosi::alternateFunction(5);
spi1::mosi::mode(Mode::ALTERNATE);
spi3::sck::mode(Mode::ALTERNATE);
spi3::sck::alternateFunction(6);
spi3::miso::mode(Mode::ALTERNATE);
spi3::sck::mode(Mode::ALTERNATE);
spi3::miso::alternateFunction(6);
spi3::mosi::mode(Mode::ALTERNATE);
spi3::miso::mode(Mode::ALTERNATE);
spi3::mosi::alternateFunction(5);
spi3::mosi::mode(Mode::ALTERNATE);
spi4::sck::mode(Mode::ALTERNATE);
spi4::sck::alternateFunction(5);
spi4::miso::mode(Mode::ALTERNATE);
spi4::sck::mode(Mode::ALTERNATE);
spi4::miso::alternateFunction(5);
spi4::mosi::mode(Mode::ALTERNATE);
spi4::miso::mode(Mode::ALTERNATE);
spi4::mosi::alternateFunction(5);
spi4::mosi::mode(Mode::ALTERNATE);
spi6::sck::mode(Mode::ALTERNATE);
spi6::sck::alternateFunction(5);
spi6::miso::mode(Mode::ALTERNATE);
spi6::sck::mode(Mode::ALTERNATE);
spi6::miso::alternateFunction(5);
spi6::mosi::mode(Mode::ALTERNATE);
spi6::miso::mode(Mode::ALTERNATE);
spi6::mosi::alternateFunction(5);
spi6::mosi::mode(Mode::ALTERNATE);
i2c1::sda::mode(Mode::ALTERNATE);
i2c1::sda::alternateFunction(4);
i2c1::scl::mode(Mode::ALTERNATE);
i2c1::sda::mode(Mode::ALTERNATE);
i2c1::scl::alternateFunction(4);
i2c1::scl::mode(Mode::ALTERNATE);
can1::rx::mode(Mode::ALTERNATE);
can1::rx::alternateFunction(9);
can1::tx::mode(Mode::ALTERNATE);
can1::rx::mode(Mode::ALTERNATE);
can1::tx::alternateFunction(9);
can1::tx::mode(Mode::ALTERNATE);
can2::rx::mode(Mode::ALTERNATE);
can2::rx::alternateFunction(9);
can2::tx::mode(Mode::ALTERNATE);
can2::rx::mode(Mode::ALTERNATE);
can2::tx::alternateFunction(9);
can2::tx::mode(Mode::ALTERNATE);
usart1::tx::mode(Mode::ALTERNATE);
usart1::tx::alternateFunction(7);
usart1::rx::mode(Mode::ALTERNATE);
usart1::tx::mode(Mode::ALTERNATE);
usart1::rx::alternateFunction(7);
usart1::rx::mode(Mode::ALTERNATE);
usart2::tx::mode(Mode::ALTERNATE);
usart2::tx::alternateFunction(7);
usart2::rx::mode(Mode::ALTERNATE);
usart2::tx::mode(Mode::ALTERNATE);
usart2::rx::alternateFunction(7);
usart2::rx::mode(Mode::ALTERNATE);
uart4::tx::mode(Mode::ALTERNATE);
uart4::tx::alternateFunction(8);
uart4::rx::mode(Mode::ALTERNATE);
uart4::tx::mode(Mode::ALTERNATE);
uart4::rx::alternateFunction(8);
uart4::rx::mode(Mode::ALTERNATE);
using namespace timers;
tim3ch1::mode(Mode::ALTERNATE);
tim3ch1::alternateFunction(2);
tim3ch2::mode(Mode::ALTERNATE);
tim3ch1::mode(Mode::ALTERNATE);
tim3ch2::alternateFunction(2);
tim1ch1::mode(Mode::ALTERNATE);
tim3ch2::mode(Mode::ALTERNATE);
tim1ch1::alternateFunction(1);
tim12ch2::mode(Mode::ALTERNATE);
tim1ch1::mode(Mode::ALTERNATE);
tim12ch2::alternateFunction(9);
tim12ch2::mode(Mode::ALTERNATE);
using namespace sensors;
LSM6DSRX::cs::mode(Mode::OUTPUT);
......
src/bsps/stm32f767zi_gemini_gs/core/stage_1_boot.cpp
View file @ ef4e55b6
......@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
8 * 1024 * 1024);
miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
......
src/bsps/stm32f767zi_gemini_gs/interfaces-impl/bsp.cpp
View file @ ef4e55b6
......@@ -231,26 +231,26 @@ void IRQbspInit()
userLed4::mode(Mode::OUTPUT);
userSwitch::mode(Mode::INPUT);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::miso::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::mosi::alternateFunction(5);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi1::sck::alternateFunction(5);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::miso::alternateFunction(6);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::mosi::alternateFunction(5);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::sck::alternateFunction(6);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::miso::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::mosi::alternateFunction(5);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::sck::alternateFunction(5);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
radio1::cs::mode(Mode::OUTPUT);
radio1::cs::high();
......
src/bsps/stm32f767zi_gemini_motor/core/stage_1_boot.cpp
View file @ ef4e55b6
......@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
8 * 1024 * 1024);
miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
......
src/bsps/stm32f767zi_gemini_motor/interfaces-impl/bsp.cpp
View file @ ef4e55b6
......@@ -224,38 +224,38 @@ void IRQbspInit()
// Enable USART1 pins port
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::sck::alternateFunction(5);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::miso::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::mosi::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi3::sck::alternateFunction(6);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi3::miso::alternateFunction(6);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::mosi::alternateFunction(5);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::sck::alternateFunction(5);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::miso::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::mosi::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
// USART1 configured by the miosix serial driver
interfaces::usart2::tx::mode(Mode::ALTERNATE);
interfaces::usart2::tx::alternateFunction(7);
interfaces::usart2::rx::mode(Mode::ALTERNATE);
interfaces::usart2::tx::mode(Mode::ALTERNATE);
interfaces::usart2::rx::alternateFunction(7);
interfaces::usart2::rx::mode(Mode::ALTERNATE);
interfaces::can2::tx::mode(Mode::ALTERNATE);
interfaces::can2::tx::alternateFunction(9);
interfaces::can2::rx::mode(Mode::ALTERNATE);
interfaces::can2::tx::mode(Mode::ALTERNATE);
interfaces::can2::rx::alternateFunction(9);
interfaces::can2::rx::mode(Mode::ALTERNATE);
peripherals::leds::userLed1::mode(Mode::OUTPUT);
peripherals::leds::userLed2::mode(Mode::OUTPUT);
......@@ -287,10 +287,10 @@ void IRQbspInit()
peripherals::max31856::cs::mode(Mode::OUTPUT);
peripherals::max31856::cs::high();
peripherals::servos::servo1::mode(Mode::ALTERNATE);
peripherals::servos::servo1::alternateFunction(3);
peripherals::servos::servo2::mode(Mode::ALTERNATE);
peripherals::servos::servo1::mode(Mode::ALTERNATE);
peripherals::servos::servo2::alternateFunction(3);
peripherals::servos::servo2::mode(Mode::ALTERNATE);
peripherals::tank_level::lvl1::mode(Mode::INPUT);
peripherals::tank_level::lvl2::mode(Mode::INPUT);
......
src/bsps/stm32f767zi_lyra_biscotto/core/stage_1_boot.cpp
View file @ ef4e55b6
......@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
8 * 1024 * 1024);
miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
......
src/bsps/stm32f767zi_lyra_biscotto/interfaces-impl/bsp.cpp
View file @ ef4e55b6
......@@ -255,59 +255,59 @@ void IRQbspInit()
userLed3::mode(Mode::OUTPUT);
userLed4::mode(Mode::OUTPUT);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::sck::alternateFunction(5);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::miso::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::mosi::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi3::sck::alternateFunction(6);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi3::miso::alternateFunction(6);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::mosi::alternateFunction(5);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::sck::alternateFunction(5);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::miso::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::mosi::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
interfaces::spi6::sck::mode(Mode::ALTERNATE);
interfaces::spi6::sck::alternateFunction(5);
interfaces::spi6::miso::mode(Mode::ALTERNATE);
interfaces::spi6::sck::mode(Mode::ALTERNATE);
interfaces::spi6::miso::alternateFunction(5);
interfaces::spi6::mosi::mode(Mode::ALTERNATE);
interfaces::spi6::miso::mode(Mode::ALTERNATE);
interfaces::spi6::mosi::alternateFunction(5);
interfaces::spi6::mosi::mode(Mode::ALTERNATE);
// We do not need to setup the miosix usart
interfaces::uart4::tx::mode(Mode::ALTERNATE);
interfaces::uart4::tx::alternateFunction(8);
interfaces::uart4::rx::mode(Mode::ALTERNATE);
interfaces::uart4::tx::mode(Mode::ALTERNATE);
interfaces::uart4::rx::alternateFunction(8);
interfaces::uart4::rx::mode(Mode::ALTERNATE);
interfaces::i2c1::sda::mode(Mode::ALTERNATE);
interfaces::i2c1::sda::alternateFunction(4);
interfaces::i2c1::scl::mode(Mode::ALTERNATE);
interfaces::i2c1::sda::mode(Mode::ALTERNATE);
interfaces::i2c1::scl::alternateFunction(4);
interfaces::i2c1::scl::mode(Mode::ALTERNATE);
interfaces::can1::tx::mode(Mode::ALTERNATE);
interfaces::can1::tx::alternateFunction(9);
interfaces::can1::rx::mode(Mode::ALTERNATE);
interfaces::can1::tx::mode(Mode::ALTERNATE);
interfaces::can1::rx::alternateFunction(9);
interfaces::can1::rx::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::alternateFunction(1);
interfaces::timers::tim3ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim3ch1::alternateFunction(2);
interfaces::timers::tim4ch2::mode(Mode::ALTERNATE);
interfaces::timers::tim3ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim4ch2::alternateFunction(2);
interfaces::timers::tim9ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim4ch2::mode(Mode::ALTERNATE);
interfaces::timers::tim9ch1::alternateFunction(3);
interfaces::timers::tim9ch1::mode(Mode::ALTERNATE);
interfaces::adcs::adc12in8::mode(Mode::INPUT_ANALOG);
interfaces::adcs::adc12in9::mode(Mode::INPUT_ANALOG);
......
src/bsps/stm32f767zi_lyra_gs/core/stage_1_boot.cpp
View file @ ef4e55b6
......@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
8 * 1024 * 1024);
miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
......
src/bsps/stm32f767zi_lyra_gs/interfaces-impl/bsp.cpp
View file @ ef4e55b6
......@@ -243,53 +243,53 @@ void IRQbspInit()
// Setting AF, mode for interfaces
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::sck::alternateFunction(5);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::miso::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::mosi::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi2::sck::mode(Mode::ALTERNATE);
interfaces::spi2::sck::alternateFunction(5);
interfaces::spi2::miso::mode(Mode::ALTERNATE);
interfaces::spi2::sck::mode(Mode::ALTERNATE);
interfaces::spi2::miso::alternateFunction(5);
interfaces::spi2::mosi::mode(Mode::ALTERNATE);
interfaces::spi2::miso::mode(Mode::ALTERNATE);
interfaces::spi2::mosi::alternateFunction(5);
interfaces::spi2::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::sck::alternateFunction(5);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::miso::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::mosi::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
// We do not need to setup the miosix usart
interfaces::usart2::tx::mode(Mode::ALTERNATE_PULL_UP);
interfaces::usart2::tx::alternateFunction(7);
interfaces::usart2::rx::mode(Mode::ALTERNATE_OD_PULL_UP);
interfaces::usart2::tx::mode(Mode::ALTERNATE_PULL_UP);
interfaces::usart2::rx::alternateFunction(7);
interfaces::usart2::rx::mode(Mode::ALTERNATE_OD_PULL_UP);
interfaces::uart4::tx::mode(Mode::ALTERNATE);
interfaces::uart4::tx::alternateFunction(8);
interfaces::uart4::rx::mode(Mode::ALTERNATE);
interfaces::uart4::tx::mode(Mode::ALTERNATE);
interfaces::uart4::rx::alternateFunction(8);
interfaces::uart4::rx::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::alternateFunction(1);
// interfaces::timers::tim2ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
// interfaces::timers::tim2ch1::alternateFunction(1);
// interfaces::timers::tim2ch4::mode(Mode::ALTERNATE);
// interfaces::timers::tim2ch1::mode(Mode::ALTERNATE);
// interfaces::timers::tim2ch4::alternateFunction(1);
interfaces::timers::tim3ch2::mode(Mode::ALTERNATE);
// interfaces::timers::tim2ch4::mode(Mode::ALTERNATE);
interfaces::timers::tim3ch2::alternateFunction(2);
interfaces::timers::tim4ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim3ch2::mode(Mode::ALTERNATE);
interfaces::timers::tim4ch1::alternateFunction(2);
interfaces::timers::tim8ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim4ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim8ch1::alternateFunction(3);
// interfaces::timers::tim10ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim8ch1::mode(Mode::ALTERNATE);
// interfaces::timers::tim10ch1::alternateFunction(3);
// interfaces::timers::tim10ch1::mode(Mode::ALTERNATE);
commBox::ledTimY1::mode(Mode::OUTPUT);
commBox::ledTimY1::low();
......
src/bsps/stm32f767zi_lyra_motor/core/stage_1_boot.cpp
View file @ ef4e55b6
......@@ -49,8 +49,7 @@ void program_startup()
// enabled
__disable_irq();
miosix::IRQconfigureCache((const unsigned int *)0xd0000000,
8 * 1024 * 1024);
miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
// These are defined in the linker script
extern unsigned char _etext asm("_etext");
......
src/bsps/stm32f767zi_lyra_motor/interfaces-impl/bsp.cpp
View file @ ef4e55b6
......@@ -255,43 +255,43 @@ void IRQbspInit()
userLed3::mode(Mode::OUTPUT);
userLed4::mode(Mode::OUTPUT);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::sck::alternateFunction(5);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::sck::mode(Mode::ALTERNATE);
interfaces::spi1::miso::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi1::miso::mode(Mode::ALTERNATE);
interfaces::spi1::mosi::alternateFunction(5);
interfaces::spi1::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi3::sck::alternateFunction(6);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::sck::mode(Mode::ALTERNATE);
interfaces::spi3::miso::alternateFunction(6);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi3::miso::mode(Mode::ALTERNATE);
interfaces::spi3::mosi::alternateFunction(5);
interfaces::spi3::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::sck::alternateFunction(5);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::sck::mode(Mode::ALTERNATE);
interfaces::spi4::miso::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
interfaces::spi4::miso::mode(Mode::ALTERNATE);
interfaces::spi4::mosi::alternateFunction(5);
interfaces::spi4::mosi::mode(Mode::ALTERNATE);
// We do not need to setup the miosix usart
interfaces::uart4::tx::mode(Mode::ALTERNATE);
interfaces::uart4::tx::alternateFunction(8);
interfaces::uart4::rx::mode(Mode::ALTERNATE);
interfaces::uart4::tx::mode(Mode::ALTERNATE);
interfaces::uart4::rx::alternateFunction(8);
interfaces::uart4::rx::mode(Mode::ALTERNATE);
interfaces::can1::tx::mode(Mode::ALTERNATE);
interfaces::can1::tx::alternateFunction(9);
interfaces::can1::rx::mode(Mode::ALTERNATE);
interfaces::can1::tx::mode(Mode::ALTERNATE);
interfaces::can1::rx::alternateFunction(9);
interfaces::can1::rx::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::alternateFunction(1);
interfaces::timers::tim3ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
interfaces::timers::tim3ch1::alternateFunction(2);
interfaces::timers::tim3ch1::mode(Mode::ALTERNATE);
interfaces::adcs::adc12in9::mode(Mode::INPUT_ANALOG);
interfaces::adcs::adc12in14::mode(Mode::INPUT_ANALOG);
......