From 16c83514ae6459e4ef2395ad22f32f1d8713a17b Mon Sep 17 00:00:00 2001
From: acirillo87 <acirillo87@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Sat, 27 Jul 2013 11:09:13 +0000
Subject: [PATCH] git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@6032
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c | 1081 +++++++++---------
 1 file changed, 539 insertions(+), 542 deletions(-)

diff --git a/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c
index d15f1856e..a7205231e 100644
--- a/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c
+++ b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c
@@ -22,7 +22,6 @@
  * @{
  */
 
-#include "ch.h"
 #include "hal.h"
 
 #if HAL_USE_CAN || defined(__DOXYGEN__)
@@ -124,66 +123,65 @@ static void can_lld_tx_handler(CANDriver *canp) {
   }
 #endif
 
-  chSysLockFromIsr();
-  while (chSemGetCounterI(&canp->txsem) < 0)
-    chSemSignalI(&canp->txsem);
+  osalSysLockFromISR();
+  osalQueueWakeupAllI(&canp->txqueue, MSG_OK);
 
 #if SPC5_CAN_USE_FLEXCAN0 && (SPC5_FLEXCAN0_MB == 32)
   if(&CAND1 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
   }
 #elif SPC5_CAN_USE_FLEXCAN0 && (SPC5_FLEXCAN0_MB == 64)
   if(&CAND1 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
   }
 #endif
 #if SPC5_CAN_USE_FLEXCAN1 && (SPC5_FLEXCAN1_MB == 32)
   if(&CAND2 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
   }
 #elif SPC5_CAN_USE_FLEXCAN1 && (SPC5_FLEXCAN1_MB == 64)
   if(&CAND2 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
   }
 #endif
 #if SPC5_CAN_USE_FLEXCAN2 && (SPC5_FLEXCAN2_MB == 32)
   if(&CAND3 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
   }
 #elif SPC5_CAN_USE_FLEXCAN2 && (SPC5_FLEXCAN2_MB == 64)
   if(&CAND3 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
   }
 #endif
 #if SPC5_CAN_USE_FLEXCAN3 && (SPC5_FLEXCAN3_MB == 32)
   if(&CAND4 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
   }
 #elif SPC5_CAN_USE_FLEXCAN3 && (SPC5_FLEXCAN3_MB == 64)
   if(&CAND4 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
   }
 #endif
 #if SPC5_CAN_USE_FLEXCAN4 && (SPC5_FLEXCAN4_MB == 32)
   if(&CAND5 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
   }
 #elif SPC5_CAN_USE_FLEXCAN4 && (SPC5_FLEXCAN4_MB == 64)
   if(&CAND5 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
   }
 #endif
 #if SPC5_CAN_USE_FLEXCAN5 && (SPC5_FLEXCAN5_MB == 32)
   if(&CAND6 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
   }
 #elif SPC5_CAN_USE_FLEXCAN5 && (SPC5_FLEXCAN5_MB == 64)
   if(&CAND6 == canp) {
-    chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+    osalEventBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
   }
 #endif
 
-  chSysUnlockFromIsr();
+  osalSysUnlockFromISR();
 }
 
 /**
@@ -198,11 +196,10 @@ static void can_lld_rx_handler(CANDriver *canp) {
 
   iflag1 = canp->flexcan->IFRL.R;
   if ((iflag1 & 0x000000FF) != 0) {
-    chSysLockFromIsr();
-    while (chSemGetCounterI(&canp->rxsem) < 0)
-      chSemSignalI(&canp->rxsem);
-    chEvtBroadcastFlagsI(&canp->rxfull_event, iflag1 & 0x000000FF);
-    chSysUnlockFromIsr();
+    osalSysLockFromISR();
+    osalQueueWakeupAllI(&canp->rxqueue, MSG_OK);
+    osalEventBroadcastFlagsI(&canp->rxfull_event, iflag1 & 0x000000FF);
+    osalSysUnlockFromISR();
 
     /* Release the mailbox.*/
     canp->flexcan->IFRL.R = iflag1 & 0x000000FF;
@@ -219,7 +216,7 @@ static void can_lld_rx_handler(CANDriver *canp) {
 static void can_lld_err_handler(CANDriver *canp) {
 
   uint32_t esr = canp->flexcan->ESR.R;
-  flagsmask_t flags = 0;
+  eventflags_t flags = 0;
 
   /* Error event.*/
   if ((esr & CAN_ESR_TWRN_INT) || (esr & CAN_ESR_RWRN_INT)) {
@@ -237,9 +234,9 @@ static void can_lld_err_handler(CANDriver *canp) {
     canp->flexcan->ESR.B.ERRINT = 1U;
     flags |= CAN_FRAMING_ERROR;
   }
-  chSysLockFromIsr();
-  chEvtBroadcastFlagsI(&canp->error_event, flags);
-  chSysUnlockFromIsr();
+  osalSysLockFromISR();
+  osalEventBroadcastFlagsI(&canp->error_event, flags);
+  osalSysUnlockFromISR();
 }
 
 /*===========================================================================*/
@@ -247,20 +244,20 @@ static void can_lld_err_handler(CANDriver *canp) {
 /*===========================================================================*/
 
 #if SPC5_CAN_USE_FLEXCAN0 || defined(__DOXYGEN__)
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
 /**
  * @brief   CAN1 RX interrupt handler for MB 0.
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_00_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_00_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -268,14 +265,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_00_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_01_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_01_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -283,14 +280,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_01_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_02_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_02_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -298,14 +295,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_02_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_03_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -313,14 +310,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_04_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_04_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -328,14 +325,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_04_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_05_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_05_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -343,14 +340,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_05_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_06_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_06_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -358,14 +355,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_06_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_07_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -373,14 +370,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_08_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_08_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -388,14 +385,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_08_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_09_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_09_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -403,14 +400,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_09_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_10_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_10_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -418,14 +415,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_10_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -433,14 +430,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_12_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_12_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -448,14 +445,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_12_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_13_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_13_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -463,14 +460,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_13_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_14_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_14_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -478,13 +475,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_14_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -492,13 +489,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN0_MB == 64)
@@ -507,13 +504,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -522,13 +519,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -536,13 +533,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #else
 /**
@@ -550,14 +547,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_BOFF_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_08_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_08_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -565,13 +562,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_08_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_12_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_12_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -579,13 +576,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_12_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN0_MB == 64)
@@ -594,13 +591,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -609,13 +606,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_00_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_00_03_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /*
@@ -623,13 +620,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_00_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_04_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_04_07_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -637,13 +634,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_BUF_04_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -651,32 +648,32 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN0_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND1);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 #endif /* SPC5_CAN_USE_FLEXCAN0 */
 
 #if SPC5_CAN_USE_FLEXCAN1 || defined(__DOXYGEN__)
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
 /**
  * @brief   CAN2 RX interrupt handler for MB 0.
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_00_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_00_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -684,14 +681,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_00_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_01_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_01_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -699,14 +696,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_01_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_02_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_02_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -714,14 +711,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_02_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_03_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -729,14 +726,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_04_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_04_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -744,14 +741,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_04_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_05_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_05_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -759,14 +756,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_05_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_06_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_06_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -774,14 +771,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_06_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_07_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -789,14 +786,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_08_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_08_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -804,14 +801,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_08_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_09_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_09_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -819,14 +816,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_09_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_10_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_10_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -834,14 +831,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_10_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -849,14 +846,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_12_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_12_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -864,14 +861,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_12_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_13_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_13_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -879,14 +876,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_13_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_14_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_14_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -894,13 +891,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_14_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -908,13 +905,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN1_MB == 64)
@@ -923,13 +920,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -938,13 +935,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -952,13 +949,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #else
 /**
@@ -966,14 +963,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_BOFF_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_08_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_08_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -981,13 +978,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_08_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_12_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_12_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -995,13 +992,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_12_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN1_MB == 64)
@@ -1010,13 +1007,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -1025,13 +1022,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_00_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_00_03_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /*
@@ -1039,13 +1036,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_00_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_04_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_04_07_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1053,13 +1050,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_BUF_04_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1067,32 +1064,32 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN1_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND2);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 #endif /* SPC5_CAN_USE_FLEXCAN1 */
 
 #if SPC5_CAN_USE_FLEXCAN2 || defined(__DOXYGEN__)
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
 /**
  * @brief   CAN3 RX interrupt handler for MB 0.
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_00_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_00_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1100,14 +1097,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_00_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_01_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_01_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1115,14 +1112,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_01_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_02_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_02_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1130,14 +1127,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_02_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_03_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1145,14 +1142,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_04_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_04_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1160,14 +1157,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_04_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_05_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_05_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1175,14 +1172,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_05_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_06_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_06_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1190,14 +1187,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_06_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_07_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1205,14 +1202,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_08_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_08_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1220,14 +1217,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_08_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_09_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_09_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1235,14 +1232,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_09_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_10_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_10_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1250,14 +1247,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_10_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1265,14 +1262,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_12_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_12_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1280,14 +1277,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_12_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_13_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_13_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1295,14 +1292,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_13_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_14_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_14_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1310,13 +1307,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_14_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1324,13 +1321,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN2_MB == 64)
@@ -1339,13 +1336,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -1354,13 +1351,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1368,13 +1365,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #else
 /**
@@ -1382,14 +1379,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_BOFF_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_08_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_08_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1397,13 +1394,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_08_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_12_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_12_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1411,13 +1408,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_12_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN2_MB == 64)
@@ -1426,13 +1423,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -1441,13 +1438,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_00_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_00_03_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /*
@@ -1455,13 +1452,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_00_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_04_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_04_07_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1469,13 +1466,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_BUF_04_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1483,32 +1480,32 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN2_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND3);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 #endif /* SPC5_CAN_USE_FLEXCAN2 */
 
 #if SPC5_CAN_USE_FLEXCAN3 || defined(__DOXYGEN__)
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
 /**
  * @brief   CAN4 RX interrupt handler for MB 0.
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_00_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_00_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1516,14 +1513,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_00_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_01_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_01_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1531,14 +1528,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_01_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_02_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_02_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1546,14 +1543,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_02_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_03_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1561,14 +1558,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_04_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_04_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1576,14 +1573,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_04_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_05_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_05_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1591,14 +1588,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_05_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_06_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_06_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1606,14 +1603,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_06_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_07_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1621,14 +1618,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_08_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_08_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1636,14 +1633,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_08_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_09_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_09_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1651,14 +1648,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_09_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_10_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_10_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1666,14 +1663,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_10_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1681,14 +1678,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_12_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_12_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1696,14 +1693,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_12_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_13_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_13_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1711,14 +1708,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_13_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_14_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_14_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1726,13 +1723,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_14_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1740,13 +1737,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN3_MB == 64)
@@ -1755,13 +1752,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -1770,13 +1767,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1784,13 +1781,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #else
 /**
@@ -1798,14 +1795,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_BOFF_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_08_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_08_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1813,13 +1810,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_08_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_12_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_12_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1827,13 +1824,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_12_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN3_MB == 64)
@@ -1842,13 +1839,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -1857,13 +1854,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_00_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_00_03_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /*
@@ -1871,13 +1868,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_00_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_04_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_04_07_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1885,13 +1882,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_BUF_04_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1899,32 +1896,32 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN3_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND4);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 #endif /* SPC5_CAN_USE_FLEXCAN3 */
 
 #if SPC5_CAN_USE_FLEXCAN4 || defined(__DOXYGEN__)
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
 /**
  * @brief   CAN5 RX interrupt handler for MB 0.
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_00_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_00_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1932,14 +1929,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_00_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_01_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_01_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1947,14 +1944,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_01_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_02_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_02_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1962,14 +1959,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_02_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_03_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1977,14 +1974,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_04_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_04_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -1992,14 +1989,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_04_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_05_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_05_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2007,14 +2004,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_05_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_06_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_06_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2022,14 +2019,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_06_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_07_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2037,14 +2034,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_08_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_08_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2052,14 +2049,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_08_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_09_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_09_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2067,14 +2064,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_09_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_10_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_10_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2082,14 +2079,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_10_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2097,14 +2094,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_12_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_12_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2112,14 +2109,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_12_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_13_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_13_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2127,14 +2124,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_13_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_14_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_14_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2142,13 +2139,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_14_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2156,13 +2153,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN4_MB == 64)
@@ -2171,13 +2168,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -2186,13 +2183,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2200,13 +2197,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #else
 /**
@@ -2214,14 +2211,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_BOFF_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_08_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_08_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2229,13 +2226,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_08_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_12_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_12_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2243,13 +2240,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_12_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN4_MB == 64)
@@ -2258,13 +2255,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -2273,13 +2270,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_00_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_00_03_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /*
@@ -2287,13 +2284,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_00_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_04_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_04_07_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2301,13 +2298,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_BUF_04_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2315,32 +2312,32 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN4_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND5);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 #endif /* SPC5_CAN_USE_FLEXCAN4 */
 
 #if SPC5_CAN_USE_FLEXCAN5 || defined(__DOXYGEN__)
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
 /**
  * @brief   CAN6 RX interrupt handler for MB 0.
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_00_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_00_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2348,14 +2345,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_00_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_01_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_01_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2363,14 +2360,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_01_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_02_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_02_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2378,14 +2375,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_02_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_03_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2393,14 +2390,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_04_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_04_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2408,14 +2405,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_04_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_05_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_05_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2423,14 +2420,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_05_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_06_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_06_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2438,14 +2435,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_06_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_07_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2453,14 +2450,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_08_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_08_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2468,14 +2465,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_08_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_09_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_09_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2483,14 +2480,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_09_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_10_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_10_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2498,14 +2495,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_10_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2513,14 +2510,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_12_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_12_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2528,14 +2525,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_12_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_13_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_13_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2543,14 +2540,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_13_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_14_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_14_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2558,13 +2555,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_14_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2572,13 +2569,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN5_MB == 64)
@@ -2587,13 +2584,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -2602,13 +2599,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2616,13 +2613,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #else
 /**
@@ -2630,14 +2627,14 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_BOFF_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_08_11_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_08_11_HANDLER) {
 
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2645,13 +2642,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_08_11_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_12_15_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_12_15_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2659,13 +2656,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_12_15_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_16_31_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_16_31_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 #if (SPC5_FLEXCAN5_MB == 64)
@@ -2674,13 +2671,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_16_31_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_32_63_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_32_63_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_tx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -2689,13 +2686,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_32_63_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_00_03_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_00_03_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /*
@@ -2703,13 +2700,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_00_03_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_04_07_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_04_07_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_rx_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2717,13 +2714,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_BUF_04_07_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_ERR_INT_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_ERR_INT_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 
 /**
@@ -2731,13 +2728,13 @@ CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_ERR_INT_HANDLER) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_BOFF_HANDLER) {
+OSAL_IRQ_HANDLER(SPC5_FLEXCAN5_FLEXCAN_ESR_BOFF_HANDLER) {
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   can_lld_err_handler(&CAND6);
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 #endif /* SPC5_CAN_USE_FLEXCAN5 */
@@ -2757,7 +2754,7 @@ void can_lld_init(void) {
   /* Driver initialization.*/
   canObjectInit(&CAND1);
   CAND1.flexcan = &SPC5_FLEXCAN_0;
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
   INTC.PSR[SPC5_FLEXCAN0_FLEXCAN_ESR_ERR_INT_NUMBER].R =
       SPC5_CAN_FLEXCAN0_IRQ_PRIORITY;
   INTC.PSR[SPC5_FLEXCAN0_FLEXCAN_ESR_BOFF_NUMBER].R =
@@ -2820,7 +2817,7 @@ void can_lld_init(void) {
   /* Driver initialization.*/
   canObjectInit(&CAND2);
   CAND2.flexcan = &SPC5_FLEXCAN_1;
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
   INTC.PSR[SPC5_FLEXCAN1_FLEXCAN_ESR_ERR_INT_NUMBER].R =
       SPC5_CAN_FLEXCAN1_IRQ_PRIORITY;
   INTC.PSR[SPC5_FLEXCAN1_FLEXCAN_ESR_BOFF_NUMBER].R =
@@ -2883,7 +2880,7 @@ void can_lld_init(void) {
   /* Driver initialization.*/
   canObjectInit(&CAND3);
   CAND3.flexcan = &SPC5_FLEXCAN_2;
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
   INTC.PSR[SPC5_FLEXCAN2_FLEXCAN_ESR_ERR_INT_NUMBER].R =
       SPC5_CAN_FLEXCAN2_IRQ_PRIORITY;
   INTC.PSR[SPC5_FLEXCAN2_FLEXCAN_ESR_BOFF_NUMBER].R =
@@ -2946,7 +2943,7 @@ void can_lld_init(void) {
   /* Driver initialization.*/
   canObjectInit(&CAND4);
   CAND4.flexcan = &SPC5_FLEXCAN_3;
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
   INTC.PSR[SPC5_FLEXCAN3_FLEXCAN_ESR_ERR_INT_NUMBER].R =
       SPC5_CAN_FLEXCAN3_IRQ_PRIORITY;
   INTC.PSR[SPC5_FLEXCAN3_FLEXCAN_ESR_BOFF_NUMBER].R =
@@ -3009,7 +3006,7 @@ void can_lld_init(void) {
   /* Driver initialization.*/
   canObjectInit(&CAND5);
   CAND5.flexcan = &SPC5_FLEXCAN_4;
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
   INTC.PSR[SPC5_FLEXCAN4_FLEXCAN_ESR_ERR_INT_NUMBER].R =
       SPC5_CAN_FLEXCAN4_IRQ_PRIORITY;
   INTC.PSR[SPC5_FLEXCAN4_FLEXCAN_ESR_BOFF_NUMBER].R =
@@ -3072,7 +3069,7 @@ void can_lld_init(void) {
   /* Driver initialization.*/
   canObjectInit(&CAND6);
   CAND6.flexcan = &SPC5_FLEXCAN_5;
-#if (defined _SPC563M64L5_ || defined _SPC564A70L7_)
+#if (defined _SPC563M64L5_ || defined _SPC563M64L7_ || defined _SPC564A70L7_)
   INTC.PSR[SPC5_FLEXCAN5_FLEXCAN_ESR_ERR_INT_NUMBER].R =
       SPC5_CAN_FLEXCAN5_IRQ_PRIORITY;
   INTC.PSR[SPC5_FLEXCAN5_FLEXCAN_ESR_BOFF_NUMBER].R =