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Re: [Paparazzi-devel] CANBus / Can Bus usage with Lisa-M board

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] CANBus / Can Bus usage with Lisa-M board
Date: Mon, 16 Aug 2021 18:15:03 +0200
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:78.0) Gecko/20100101 Thunderbird/78.11.0

Hello David,

This CAN driver for Lisa-M was used years ago as a prototype, but have not been maintained or even used after that as far as I know. So I'm not completely surprised that it is not working.

Some people from the MAVLAB at TUDelft have recently implemented a CAN and UAVCAN driver for the ChibiOS architecture, but if you are interested in the intermcu part, it may not solve your problem. See and

Best regards,


Le 16/08/2021 à 17:58, David Cooper a écrit :
This is a follow-up to a previous question I asked which no responses made to.
I would like to use the CANBus interface on the Lisa-M board to connect and communicate between to Lisa-M boards.  There is a set of CAN bus drivers in the Paparazzi source tree (sw/airborne/mcu_periph/can.c & .h, sw/airborne/arch/stm32/mcu_periph/can_arch.c & .h, and conf/module/intermcu_can.xml) and there is an intermcu class in the messages.xml.
I was hoping, with all of the above, it would be straightforward to enable the CANBus and have messages sent over it – I expected a number of intermcu message routines to be generated (similar to other messages); however, that does not look to be the case.
I have not found any documentation on the usage of the CANBus on the Wiki or other places.  Does anyone know where I can find documentation for usage of the CANBus with the Lisa-M board ?  A good start would be the address of the control registers.
David “Coop” Cooper
Maviate US Supply Inc - Sr Principal Engineer - Embedded Systems
Mobile: 1-949-463-9013

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