Add loopback support to STM32 CAN driver; Add apps/examples/can loopback test

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4213 7fd9a85b-ad96-42d3-883c-3090e2eb8679

41 files changed, 865 insertions, 68 deletions

diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index 81b041e354..d5c885da32 100755
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -148,3 +148,5 @@
 	  driver.
 	* apps/examples/pwm:  Add an NSH PWM command to drive and test a PWM
 	  driver.
+	* apps/examples/can:  Add an NSH CAN command to drive and test a CAN
+	  driver in loopback mode.
diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index 2c82c51453..ec38c8a8f8 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -42,25 +42,28 @@ SUBDIRS = adc buttons dhcpd ftpc hello helloxx hidkbd igmp lcdrw mm mount \
 	nxtext ostest pashello pipe poll pwm rgmp romfs sendmail serloop \
 	thttpd tiff touchscreen udp uip usbserial usbstorage usbterm wget wlan
 
-# Sub-directories that might need context setup
+# Sub-directories that might need context setup.  Directories may need
+# context setup for a variety of reasons, but the most common is because
+# the example may be built as an NSH built-in function.
+#
+# Directories that may be built as NSH built-in functions may have their
+# own configuration setting (like CONFIG_EXAMPLES_HELLOXX_BUILTIN), but
+# many only depend on the generic CONFIG_NSH_BUILTIN_APPS setting.  And
+# there a few which an ONLY be built as NSH built-in applications; these
+# are included in the list unconditionally.
 
 CNTXTDIRS = pwm
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS +=  adc
-endif
-ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS +=  dhcpd
+CNTXTDIRS +=  adc can dhcpd nettest
 endif
+
 ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
 CNTXTDIRS +=  helloxx
 endif
 ifeq ($(CONFIG_EXAMPLES_LCDRW_BUILTIN),y)
 CNTXTDIRS +=  lcdrw
 endif
-ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS +=  nettest
-endif
 ifeq ($(CONFIG_EXAMPLES_NX_BUILTIN),y)
 CNTXTDIRS +=  nx
 endif
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index ff8dcead1f..97a3cf1513 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -76,6 +76,34 @@ examples/buttons
   user-space program.  As a result, this example cannot be used if a
   NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
 
+examples/can
+^^^^^^^^^^^^
+
+  If the CAN device is configured in loopback mode, then this example can
+  be used to test the CAN device in loop back mode.  It simple sinces a
+  sequence of CAN messages and verifies that those messages are returned
+  exactly as sent.
+
+  This test depends on these specific CAN configurations settings (your
+  specific CAN settings might require additional settings).
+
+    CONFIG_CAN - Enables CAN support.
+    CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+     mode for testing. The STM32 CAN driver does support loopback mode.
+ 
+  Specific configuration options for this example include:
+ 
+    CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
+       Default: Built as a standalone problem
+    CONFIG_CAN_LOOPBACK
+    CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
+    CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
+      is defined, then the number of loops is provided on the command line
+      and this value is ignored.  Otherwise, this number of CAN message is
+      collected and the program terminates.  Default:  If built as an NSH
+      built-in, the default is 32.  Otherwise messages are sent and received
+      indefinitely.
+
 examples/dhcpd
 ^^^^^^^^^^^^^^
 
diff --git a/apps/examples/adc/adc.h b/apps/examples/adc/adc.h
index 214ecc6c85..214ecc6c85 100755..100644
--- a/apps/examples/adc/adc.h
+++ b/apps/examples/adc/adc.h
diff --git a/apps/examples/can/Makefile b/apps/examples/can/Makefile
new file mode 100644
index 0000000000..c6dc5af84c
--- /dev/null
+++ b/apps/examples/can/Makefile
@@ -0,0 +1,105 @@
+############################################################################
+# apps/examples/can/Makefile
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# NuttX NX Graphics Example.
+
+ASRCS		=
+CSRCS		= can_main.c
+
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ifeq ($(WINTOOL),y)
+  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+else
+  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+endif
+
+ROOTDEPPATH	= --dep-path .
+
+# Touchscreen built-in application info
+
+APPNAME		= can
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 2048
+
+# Common build
+
+VPATH		= 
+
+all: .built
+.PHONY: context clean depend distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	@( for obj in $(OBJS) ; do \
+		$(call ARCHIVE, $(BIN), $${obj}); \
+	done ; )
+	@touch .built
+
+.context:
+ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
+	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
+	@touch $@
+endif
+
+context: .context
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	@rm -f *.o *~ .*.swp .built
+	$(call CLEAN)
+
+distclean: clean
+	@rm -f Make.dep .depend
+
+-include Make.dep
diff --git a/apps/examples/can/can.h b/apps/examples/can/can.h
new file mode 100644
index 0000000000..0b781c6692
--- /dev/null
+++ b/apps/examples/can/can.h
@@ -0,0 +1,129 @@
+/****************************************************************************
+ * examples/examples/can/can.h
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_EXAMPLES_CAN_CAN_H
+#define __APPS_EXAMPLES_CAN_CAN_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+/* This test depends on these specific CAN configurations settings (your
+ * specific CAN settings might require additional settings).
+ *
+ * CONFIG_CAN - Enables CAN support.
+ * CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+ *   mode for testing. The STM32 CAN driver does support loopback mode.
+ *
+ * Specific configuration options for this example include:
+ *
+ * CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
+ *   Default: Built as a standalone problem
+ * CONFIG_CAN_LOOPBACK
+ * CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
+ * CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
+ *   is defined, then the number of loops is provided on the command line
+ *   and this value is ignored.  Otherwise, this number of CAN message is
+ *   collected and the program terminates.  Default:  If built as an NSH
+ *   built-in, the default is 32.  Otherwise messages are sent and received
+ *   indefinitely.
+ */
+
+#ifndef CONFIG_CAN
+#  error "CAN device support is not enabled (CONFIG_CAN)"
+#endif
+
+#ifndef CONFIG_CAN_LOOPBACK
+#  warning "CAN loopback is not enabled (CONFIG_CAN_LOOPBACK)"
+#endif
+
+#ifndef CONFIG_EXAMPLES_CAN_DEVPATH
+#  define CONFIG_EXAMPLES_CAN_DEVPATH "/dev/can0"
+#endif
+
+#if defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_EXAMPLES_CAN_NMSGS)
+#  define CONFIG_EXAMPLES_CAN_NMSGS 32
+#endif
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define msgflush()
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#    define msgflush() fflush(stdout)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lib_rawprintf
+#    define msgflush()
+#  else
+#    define message printf
+#    define msgflush() fflush(stdout)
+#  endif
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: can_devinit()
+ *
+ * Description:
+ *   Perform architecuture-specific initialization of the CAN hardware.  This
+ *   interface must be provided by all configurations using apps/examples/can
+ *
+ ****************************************************************************/
+
+int can_devinit(void);
+
+#endif /* __APPS_EXAMPLES_CAN_CAN_H */
diff --git a/apps/examples/can/can_main.c b/apps/examples/can/can_main.c
new file mode 100644
index 0000000000..d63eca5497
--- /dev/null
+++ b/apps/examples/can/can_main.c
@@ -0,0 +1,247 @@
+/****************************************************************************
+ * examples/can/can_main.c
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can.h>
+
+#include "can.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+#  define MAIN_NAME   can_main
+#  define MAIN_STRING "can_main: "
+#else
+#  define MAIN_NAME   user_start
+#  define MAIN_STRING "user_start: "
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: user_start/can_main
+ ****************************************************************************/
+
+int MAIN_NAME(int argc, char *argv[])
+{
+  struct can_msg_s txmsg;
+  struct can_msg_s rxmsg;
+  size_t msgsize;
+  ssize_t nbytes;
+  uint8_t msgdata;
+#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS)
+  long nmsgs;
+#endif
+  int msgdlc;
+  int msgid;
+  int fd;
+  int errval = 0;
+  int ret;
+  int i;
+
+  /* If this example is configured as an NX add-on, then limit the number of
+   * samples that we collect before returning.  Otherwise, we never return
+   */
+
+#if defined(CONFIG_NSH_BUILTIN_APPS)
+  nmsgs = CONFIG_EXAMPLES_CAN_NMSGS;
+  if (argc > 1)
+    {
+      nmsgs = strtol(argv[1], NULL, 10);
+    }
+  message(MAIN_STRING "nmsgs: %d\n", nmsgs);
+#elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
+  message(MAIN_STRING "nmsgs: %d\n", CONFIG_EXAMPLES_CAN_NMSGS);
+#endif
+
+  /* Initialization of the CAN hardware is performed by logic external to
+   * this test.
+   */
+
+  message(MAIN_STRING "Initializing external CAN device\n");
+  ret = can_devinit();
+  if (ret != OK)
+    {
+      message(MAIN_STRING "can_devinit failed: %d\n", ret);
+      errval = 1;
+      goto errout;
+    }
+
+  /* Open the CAN device for reading */
+
+  message(MAIN_STRING "Hardware initialized. Opening the CAN device\n");
+  fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, O_RDWR);
+  if (fd < 0)
+    {
+      message(MAIN_STRING "open %s failed: %d\n",
+              CONFIG_EXAMPLES_CAN_DEVPATH, errno);
+      errval = 2;
+      goto errout_with_dev;
+    }
+
+  /* Now loop the appropriate number of times, performing one loopback test
+   * on each pass.
+   */
+
+  msgdlc  = 1;
+  msgid   = 1;
+  msgdata = 0;
+
+#if defined(CONFIG_NSH_BUILTIN_APPS)
+  for (; nmsgs > 0; nmsgs--)
+#elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
+  for (nmsgs = 0; nmsgs < CONFIG_EXAMPLES_CAN_NMSGS; nmsgs++)
+#else
+  for (;;)
+#endif
+  {
+    /* Flush any output before the loop entered or from the previous pass
+     * through the loop.
+     */
+
+    msgflush();
+
+    /* Construct the next TX message */
+
+    txmsg.cm_hdr = CAN_HDR(msgid, 0, msgdlc);
+    for (i = 0; i < msgdlc; i++)
+      {
+        txmsg.cm_data[i] = msgdata + i;
+      }
+
+    /* Send the TX message */
+
+    msgsize = CAN_MSGLEN(txmsg.cm_hdr);
+    nbytes = write(fd, &txmsg, msgsize);
+    if (nbytes != msgsize)
+      {
+        message("ERROR: write(%d) returned %d\n", msgsize, nbytes);
+        errval = 3;
+        goto errout_with_dev;
+      }
+
+    /* Read the RX message */
+
+    msgsize = sizeof(struct can_msg_s);
+    nbytes = read(fd, &rxmsg, msgsize);
+    if (nbytes < CAN_MSGLEN(0) || nbytes >= msgsize)
+      {
+        message("ERROR: read(%d) returned %d\n", msgsize, nbytes);
+        errval = 4;
+        goto errout_with_dev;
+      }
+
+    /* Verify that the received messages are the same */
+
+    if (txmsg.cm_hdr != rxmsg.cm_hdr)
+      {
+        message("ERROR: Sent header %04x; received header %04x\n", txmsg.cm_hdr, rxmsg.cm_hdr);
+        errval = 4;
+        goto errout_with_dev;
+      }
+
+    if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0)
+      {
+        message("ERROR: Data does not match.  DLC=%d\n", msgdlc);
+        for (i = 0; i < msgdlc; i++)
+          {
+            message("  %d: TX %02x RX %02x\n", txmsg.cm_data[i], rxmsg.cm_data[i]);
+            errval = 5;
+            goto errout_with_dev;
+          }
+      }
+
+    /* Set up for the next pass */
+
+    msgdata += msgdlc;
+ 
+    if (++msgid >= 2048)
+      {
+        msgid = 1;
+      }
+
+    if (++msgdlc > CAN_MAXDATALEN)
+      {
+        msgdlc = 1;
+      }
+  }
+
+errout_with_dev:
+  close(fd);
+
+errout:
+  message("Terminating!\n");
+  msgflush();
+  return errval;
+}
diff --git a/apps/examples/ftpc/ftpc_cmds.c b/apps/examples/ftpc/ftpc_cmds.c
index f95f643cbd..f95f643cbd 100755..100644
--- a/apps/examples/ftpc/ftpc_cmds.c
+++ b/apps/examples/ftpc/ftpc_cmds.c
diff --git a/apps/examples/ftpc/ftpc_main.c b/apps/examples/ftpc/ftpc_main.c
index 7a1cb50f7d..7a1cb50f7d 100755..100644
--- a/apps/examples/ftpc/ftpc_main.c
+++ b/apps/examples/ftpc/ftpc_main.c
diff --git a/apps/examples/igmp/igmp.c b/apps/examples/igmp/igmp.c
index 7f2a8099c0..7f2a8099c0 100755..100644
--- a/apps/examples/igmp/igmp.c
+++ b/apps/examples/igmp/igmp.c
diff --git a/apps/examples/igmp/igmp.h b/apps/examples/igmp/igmp.h
index e241467c6f..e241467c6f 100755..100644
--- a/apps/examples/igmp/igmp.h
+++ b/apps/examples/igmp/igmp.h
diff --git a/apps/examples/nximage/nximage.h b/apps/examples/nximage/nximage.h
index 117eff6710..117eff6710 100755..100644
--- a/apps/examples/nximage/nximage.h
+++ b/apps/examples/nximage/nximage.h
diff --git a/apps/examples/nximage/nximage_bkgd.c b/apps/examples/nximage/nximage_bkgd.c
index e724b3a314..e724b3a314 100755..100644
--- a/apps/examples/nximage/nximage_bkgd.c
+++ b/apps/examples/nximage/nximage_bkgd.c
diff --git a/apps/examples/nximage/nximage_main.c b/apps/examples/nximage/nximage_main.c
index 3ddfb1c027..3ddfb1c027 100755..100644
--- a/apps/examples/nximage/nximage_main.c
+++ b/apps/examples/nximage/nximage_main.c
diff --git a/apps/examples/pwm/pwm.h b/apps/examples/pwm/pwm.h
index 83d87517c2..83d87517c2 100755..100644
--- a/apps/examples/pwm/pwm.h
+++ b/apps/examples/pwm/pwm.h
diff --git a/apps/examples/sendmail/hostdefs.h b/apps/examples/sendmail/hostdefs.h
index da072d560a..da072d560a 100755..100644
--- a/apps/examples/sendmail/hostdefs.h
+++ b/apps/examples/sendmail/hostdefs.h
diff --git a/apps/examples/wget/hostdefs.h b/apps/examples/wget/hostdefs.h
index da072d560a..da072d560a 100755..100644
--- a/apps/examples/wget/hostdefs.h
+++ b/apps/examples/wget/hostdefs.h
diff --git a/apps/examples/wlan/wlan_main.c b/apps/examples/wlan/wlan_main.c
index 04210909a7..04210909a7 100755..100644
--- a/apps/examples/wlan/wlan_main.c
+++ b/apps/examples/wlan/wlan_main.c
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index 288bf20291..9e95ad4a85 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -2287,6 +2287,6 @@
 	  manufacturers codes.  Fix a error in the wait for not busy (submitted by
 	  Mohammad Elwakeel.
 	* arch/arm/src/stm32/stm32_can.c.  Add a low-level STM32 CAN driver. (Initial
-	  check is incomplete).
+	  check is incomplete).  Add loopback support to the driver.
 
 
diff --git a/nuttx/Documentation/NuttxPortingGuide.html b/nuttx/Documentation/NuttxPortingGuide.html
index f68dc3d796..f24517503b 100644
--- a/nuttx/Documentation/NuttxPortingGuide.html
+++ b/nuttx/Documentation/NuttxPortingGuide.html
@@ -4376,6 +4376,11 @@ build
   <li>
     <code>CONFIG_CAN_NPENDINGRTR</code>: The size of the list of pending RTR requests.  Default: 4
   </li>
+  <li>
+    <code>CONFIG_CAN_LOOPBACK</code>: A CAN driver may or may not support a loopback mode for testing.
+    If the driver does support loopback mode, the setting will enable it.
+    (If the driver does not, this setting will have no effect).
+  </li>
 </ul>
 
 <h3>SPI driver</h3>
diff --git a/nuttx/arch/arm/src/common/up_internal.h b/nuttx/arch/arm/src/common/up_internal.h
index c90f49a3d1..306a44b495 100644
--- a/nuttx/arch/arm/src/common/up_internal.h
+++ b/nuttx/arch/arm/src/common/up_internal.h
@@ -340,11 +340,6 @@ extern void up_usbuninitialize(void);
 # define up_usbuninitialize()
 #endif
 
-/* CAN **********************************************************************/
-
-struct can_dev_s;  /* Forward reference */
-extern FAR struct can_dev_s *up_caninitialize(int port);
-
 /****************************************************************************
  * Name: up_check_stack
  *
@@ -361,7 +356,6 @@ extern FAR struct can_dev_s *up_caninitialize(int port);
  *
  ****************************************************************************/
 
-
 #if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_STACK)
 extern size_t up_check_stack(void);
 extern size_t up_check_tcbstack(FAR _TCB);
diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c
index f714b5715f..dfcd1f0e77 100755
--- a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c
+++ b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c
@@ -354,7 +354,7 @@ static int can_interrupt(int irq, void *context)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: up_caninitialize
+ * Name: lpc17_caninitialize
  *
  * Description:
  *   Initialize the selected can port
@@ -367,7 +367,7 @@ static int can_interrupt(int irq, void *context)
  *
  ****************************************************************************/
 
-FAR struct can_dev_s *up_caninitialize(int port)
+FAR struct can_dev_s *lpc17_caninitialize(int port)
 {
     uint32_t regval;
     irqstate_t flags;
diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h b/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h
index c33ed21b21..06ac7b47af 100755
--- a/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h
+++ b/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h
@@ -786,6 +786,25 @@ FAR struct adc_dev_s *stm32_adcinitialize(void);
 EXTERN FAR struct dac_dev_s *lpc17_dacinitialize(void);
 #endif
 
+/****************************************************************************
+ * Name: lpc17_caninitialize
+ *
+ * Description:
+ *   Initialize the selected can port
+ *
+ * Input Parameter:
+ *   Port number (for hardware that has mutiple can interfaces)
+ *
+ * Returned Value:
+ *   Valid can device structure reference on succcess; a NULL on failure
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2))
+struct can_dev_s;
+EXTERN FAR struct can_dev_s *lpc17_caninitialize(int port);
+#endif
+
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/nuttx/arch/arm/src/stm32/stm32_can.c b/nuttx/arch/arm/src/stm32/stm32_can.c
index 46e01797b9..fc5a4f4abe 100755
--- a/nuttx/arch/arm/src/stm32/stm32_can.c
+++ b/nuttx/arch/arm/src/stm32/stm32_can.c
@@ -60,34 +60,11 @@
 #include "stm32_internal.h"
 #include "stm32_can.h"
 
-#ifdef CONFIG_CAN
+#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
 
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
-/* Configuration ************************************************************/
-/* Up to 2 CAN interfaces are supported */
-
-#if STM32_NCAN < 2
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#if STM32_NCAN < 1
-#  undef CONFIG_STM32_CAN1
-#endif
-
-#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
-
-/* CAN BAUD */
-
-#if defined(CONFIG_STM32_CAN1) && !defined(CONFIG_CAN1_BAUD)
-#  error "CONFIG_CAN1_BAUD is not defined"
-#endif
-
-#if defined(CONFIG_STM32_CAN2) && !defined(CONFIG_CAN2_BAUD)
-#  error "CONFIG_CAN2_BAUD is not defined"
-#endif
-
 /* Delays *******************************************************************/
 /* Time out for INAK bit */
 
@@ -762,7 +739,7 @@ static int can_rx0interrupt(int irq, void *context)
 
   /* Provide the data to the upper half driver */
 
-  ret = can_receive(dev, (uint16_t)CAN_MSG(id, rtr, dlc), data);
+  ret = can_receive(dev, (uint16_t)CAN_HDR(id, rtr, dlc), data);
 
   /* Release the FIFO0 */
 
@@ -925,7 +902,7 @@ static int can_bittiming(struct stm32_can_s *priv)
   canvdbg("TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp);
 
  /* Configure bit timing.  This also does the the following, less obvious
-   * things:
+   * things.  Unless loopback mode is enabled, it:
    *
    * - Disables silent mode.
    * - Disables loopback mode.
@@ -936,6 +913,10 @@ static int can_bittiming(struct stm32_can_s *priv)
 
   tmp = ((brp - 1) << CAN_BTR_BRP_SHIFT) | ((ts1 - 1) << CAN_BTR_TS1_SHIFT) |
         ((ts2 - 1) << CAN_BTR_TS2_SHIFT) | ((1 - 1) << CAN_BTR_SJW_SHIFT);
+#ifdef CONFIG_CAN_LOOPBACK
+  tmp |= (CAN_BTR_LBKM | CAN_BTR_SILM);
+#endif
+
   can_putreg(priv, STM32_CAN_BTR_OFFSET, tmp);
   return OK;
 }
@@ -1126,7 +1107,7 @@ static int can_filterinit(struct stm32_can_s *priv)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: up_caninitialize
+ * Name: stm32_caninitialize
  *
  * Description:
  *   Initialize the selected CAN port
@@ -1139,7 +1120,7 @@ static int can_filterinit(struct stm32_can_s *priv)
  *
  ****************************************************************************/
 
-FAR struct can_dev_s *up_caninitialize(int port)
+FAR struct can_dev_s *stm32_caninitialize(int port)
 {
   struct can_dev_s *dev = NULL;
 
@@ -1158,8 +1139,10 @@ FAR struct can_dev_s *up_caninitialize(int port)
        * file must have been disambiguated in the board.h file.
        */
 
+#ifndef CONFIG_CAN_LOOPBACK
       stm32_configgpio(GPIO_CAN1_RX);
       stm32_configgpio(GPIO_CAN1_TX);
+#endif
     }
   else
 #endif  
@@ -1174,19 +1157,20 @@ FAR struct can_dev_s *up_caninitialize(int port)
        * file must have been disambiguated in the board.h file.
        */
 
+#ifndef CONFIG_CAN_LOOPBACK
       stm32_configgpio(GPIO_CAN2_RX);
       stm32_configgpio(GPIO_CAN2_TX);
+#endif
     }
   else
 #endif  
     {
-      candbg("Unsupported port %d\n", priv->port);
+      candbg("Unsupported port %d\n", port);
       return NULL;
     }
 
   return dev;
 }
 
-#endif /* CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2 */
-#endif /* CONFIG_CAN */
+#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
 
diff --git a/nuttx/arch/arm/src/stm32/stm32_can.h b/nuttx/arch/arm/src/stm32/stm32_can.h
index 8d9dccadd1..b842627b84 100644
--- a/nuttx/arch/arm/src/stm32/stm32_can.h
+++ b/nuttx/arch/arm/src/stm32/stm32_can.h
@@ -50,17 +50,73 @@
 /************************************************************************************
  * Pre-processor Definitions
  ************************************************************************************/
+/* Configuration ********************************************************************/
+/* Up to 2 CAN interfaces are supported */
+
+#if STM32_NCAN < 2
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#if STM32_NCAN < 1
+#  undef CONFIG_STM32_CAN1
+#endif
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+
+/* CAN BAUD */
+
+#if defined(CONFIG_STM32_CAN1) && !defined(CONFIG_CAN1_BAUD)
+#  error "CONFIG_CAN1_BAUD is not defined"
+#endif
+
+#if defined(CONFIG_STM32_CAN2) && !defined(CONFIG_CAN2_BAUD)
+#  error "CONFIG_CAN2_BAUD is not defined"
+#endif
 
 /************************************************************************************
  * Public Types
  ************************************************************************************/
 
+#ifndef __ASSEMBLY__
+
 /************************************************************************************
  * Public Data
  ************************************************************************************/
 
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
 /************************************************************************************
  * Public Functions
  ************************************************************************************/
 
+/****************************************************************************
+ * Name: stm32_caninitialize
+ *
+ * Description:
+ *   Initialize the selected CAN port
+ *
+ * Input Parameter:
+ *   Port number (for hardware that has mutiple CAN interfaces)
+ *
+ * Returned Value:
+ *   Valid CAN device structure reference on succcess; a NULL on failure
+ *
+ ****************************************************************************/
+
+struct can_dev_s;
+EXTERN FAR struct can_dev_s *stm32_caninitialize(int port);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
 #endif /* __ARCH_ARM_SRC_STM32_STM32_CAN_H */
diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt
index 90302fff64..6bec1ca1c3 100644
--- a/nuttx/configs/README.txt
+++ b/nuttx/configs/README.txt
@@ -641,6 +641,9 @@ defconfig -- This is a configuration file similar to the Linux
 		  Default: 8
 		CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 		  Default: 4
+		CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+		mode for testing. If the driver does support loopback mode, the setting
+		will enable it. (If the driver does not, this setting will have no effect).
 
 	SPI driver
 
diff --git a/nuttx/configs/hymini-stm32v/README.txt b/nuttx/configs/hymini-stm32v/README.txt
index ccb3850e2e..8dce52d26a 100755
--- a/nuttx/configs/hymini-stm32v/README.txt
+++ b/nuttx/configs/hymini-stm32v/README.txt
@@ -495,6 +495,8 @@ HY-Mini specific Configuration Options
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 	  Default: 4
+	CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+	  mode for testing. The STM32 CAN driver does support loopback mode.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 
diff --git a/nuttx/configs/stm3210e-eval/README.txt b/nuttx/configs/stm3210e-eval/README.txt
index e5f2541d8e..05face7f07 100755
--- a/nuttx/configs/stm3210e-eval/README.txt
+++ b/nuttx/configs/stm3210e-eval/README.txt
@@ -583,6 +583,8 @@ STM3210E-EVAL-specific Configuration Options
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 	  Default: 4
+	CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+	  mode for testing. The STM32 CAN driver does support loopback mode.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 
diff --git a/nuttx/configs/stm3210e-eval/src/up_adc.c b/nuttx/configs/stm3210e-eval/src/up_adc.c
index f84a88d58c..fa05f547b5 100644
--- a/nuttx/configs/stm3210e-eval/src/up_adc.c
+++ b/nuttx/configs/stm3210e-eval/src/up_adc.c
@@ -124,6 +124,11 @@ int adc_devinit(void)
   /* Call stm32_adcinitialize() to get an instance of the ADC interface */
 
   adc = stm32_adcinitialize(1, g_chanlist, ADC_NCHANNELS);
+  if (adc == NULL)
+    {
+      adbg("ERROR: Failed to get ADC interface\n");
+      return;
+    }
 
   /* Register the ADC driver at "/dev/adc0" */
 
@@ -133,7 +138,7 @@ int adc_devinit(void)
       adbg("adc_register failed: %d\n", ret);
     }
 
-  return OK;
+  return ret;
 }
 
 #endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */
diff --git a/nuttx/configs/stm3240g-eval/README.txt b/nuttx/configs/stm3240g-eval/README.txt
index 5bed82cc85..78e70f4000 100755
--- a/nuttx/configs/stm3240g-eval/README.txt
+++ b/nuttx/configs/stm3240g-eval/README.txt
@@ -524,6 +524,8 @@ STM3240G-EVAL-specific Configuration Options
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 	  Default: 4
+	CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+	  mode for testing. The STM32 CAN driver does support loopback mode.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 
diff --git a/nuttx/configs/stm3240g-eval/dhcpd/defconfig b/nuttx/configs/stm3240g-eval/dhcpd/defconfig
index a0ba27c0b9..17fa324d9b 100755
--- a/nuttx/configs/stm3240g-eval/dhcpd/defconfig
+++ b/nuttx/configs/stm3240g-eval/dhcpd/defconfig
@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings
diff --git a/nuttx/configs/stm3240g-eval/nettest/defconfig b/nuttx/configs/stm3240g-eval/nettest/defconfig
index afcd39512c..216cbee480 100755
--- a/nuttx/configs/stm3240g-eval/nettest/defconfig
+++ b/nuttx/configs/stm3240g-eval/nettest/defconfig
@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings
diff --git a/nuttx/configs/stm3240g-eval/nsh/appconfig b/nuttx/configs/stm3240g-eval/nsh/appconfig
index 6951578dac..6e9df6c9cd 100644
--- a/nuttx/configs/stm3240g-eval/nsh/appconfig
+++ b/nuttx/configs/stm3240g-eval/nsh/appconfig
@@ -54,4 +54,7 @@ ifeq ($(CONFIG_PWM),y)
 CONFIGURED_APPS += examples/pwm
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CONFIGURED_APPS += examples/can
+endif
 
diff --git a/nuttx/configs/stm3240g-eval/nsh/defconfig b/nuttx/configs/stm3240g-eval/nsh/defconfig
index 72ab549efa..efc95eccbe 100755
--- a/nuttx/configs/stm3240g-eval/nsh/defconfig
+++ b/nuttx/configs/stm3240g-eval/nsh/defconfig
@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings
diff --git a/nuttx/configs/stm3240g-eval/ostest/defconfig b/nuttx/configs/stm3240g-eval/ostest/defconfig
index e0b696dfee..4811aaf392 100755
--- a/nuttx/configs/stm3240g-eval/ostest/defconfig
+++ b/nuttx/configs/stm3240g-eval/ostest/defconfig
@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings
diff --git a/nuttx/configs/stm3240g-eval/src/Makefile b/nuttx/configs/stm3240g-eval/src/Makefile
index 7d09e145ae..6cda7250de 100644
--- a/nuttx/configs/stm3240g-eval/src/Makefile
+++ b/nuttx/configs/stm3240g-eval/src/Makefile
@@ -50,6 +50,10 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS		+= up_pwm.c
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CSRCS		+= up_can.c
+endif
+
 COBJS		= $(CSRCS:.c=$(OBJEXT))
 
 SRCS		= $(ASRCS) $(CSRCS)
diff --git a/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h b/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h
index fb4ce466b8..32b9ff577c 100644
--- a/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h
+++ b/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h
@@ -48,7 +48,7 @@
 /****************************************************************************************************
  * Definitions
  ****************************************************************************************************/
-
+/* Configuration ************************************************************************************/
 /* How many SPI modules does this chip support? */
 
 #if STM32_NSPI < 1
@@ -62,6 +62,36 @@
 #  undef CONFIG_STM32_SPI3
 #endif
 
+/* You can use either CAN1 or CAN2, but you can't use both because they share the same transceiver */
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "The STM3250G-EVAL will only support one of CAN1 and CAN2"
+#endif
+
+/* You can't use CAN1 with FSMC:
+ *
+ *   PD0   = FSMC_D2 & CAN1_RX   
+ *   PD1   = FSMC_D3 & CAN1_TX  
+ */
+
+#ifndef CONFIG_CAN_LOOPBACK
+#  if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_FSMC)
+#    warning "The STM3250G-EVAL will only support one of CAN1 and FSMC"
+#  endif
+#endif
+
+/* The USB OTG HS ULPI bus is shared with CAN2 bus:
+ *
+ *   PB13  = ULPI_D6 & CAN2_TX
+ *   PB5   = ULPI_D7 & CAN2_RX
+ */
+
+#ifndef CONFIG_CAN_LOOPBACK
+#  if defined(CONFIG_STM32_CAN2) && defined(CONFIG_STM32_OTGHS)
+#    warning "The STM3250G-EVAL will only support one of CAN2 and USB OTG HS"
+#  endif
+#endif
+
 /* STM3240G-EVAL GPIOs ******************************************************************************/
 /* LEDs */
 
diff --git a/nuttx/configs/stm3240g-eval/src/up_adc.c b/nuttx/configs/stm3240g-eval/src/up_adc.c
index c96c2b6063..c7db7a3c38 100644
--- a/nuttx/configs/stm3240g-eval/src/up_adc.c
+++ b/nuttx/configs/stm3240g-eval/src/up_adc.c
@@ -91,21 +91,37 @@
  *
  ************************************************************************************/
 
-void adc_devinit(void)
+int adc_devinit(void)
 {
+  static bool initialized = false;
   struct adc_dev_s *adc;
   int ret;
 
-  /* Call stm32_adcinitialize() to get an instance of the ADC interface */
+  /* Check if we have already initialized */
+
+  if (!initialized)
+    {
+      /* Configure the pins as analog inputs for the selected channels */
 #warning "Missing Logic"
 
-  /* Register the ADC driver at "/dev/adc0" */
+      /* Call stm32_adcinitialize() to get an instance of the ADC interface */
+#warning "Missing Logic"
 
-  ret = adc_register("/dev/adc0", adc);
-  if (ret < 0)
-    {
-      adbg("adc_register failed: %d\n", ret);
+      /* Register the ADC driver at "/dev/adc0" */
+
+      ret = adc_register("/dev/adc0", adc);
+      if (ret < 0)
+        {
+          adbg("adc_register failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Now we are initialized */
+
+      initialized = true;
     }
+
+  return OK;
 }
 
 #endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */
diff --git a/nuttx/configs/stm3240g-eval/src/up_can.c b/nuttx/configs/stm3240g-eval/src/up_can.c
new file mode 100644
index 0000000000..eafcec0bf5
--- /dev/null
+++ b/nuttx/configs/stm3240g-eval/src/up_can.c
@@ -0,0 +1,142 @@
+/************************************************************************************
+ * configs/stm3240g-eval/src/up_can.c
+ * arch/arm/src/board/up_can.c
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "stm3240g-internal.h"
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/* Debug ***************************************************************************/
+/* Non-standard debug that may be enabled just for testing CAN */
+
+#ifdef CONFIG_DEBUG_CAN
+#  define candbg    dbg
+#  define canvdbg   vdbg
+#  define canlldbg  lldbg
+#  define canllvdbg llvdbg
+#else
+#  define candbg(x...)
+#  define canvdbg(x...)
+#  define canlldbg(x...)
+#  define canllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+  static bool initialized = false;
+  struct can_dev_s *can;
+  int ret;
+
+  /* Check if we have already initialized */
+
+  if (!initialized)
+    {
+      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+      can = stm32_caninitialize(CAN_PORT);
+      if (can == NULL)
+        {
+          candbg("ERROR:  Failed to get CAN interface\n");
+          return -ENODEV;
+        }
+
+      /* Register the CAN driver at "/dev/can0" */
+
+      ret = can_register("/dev/can0", can);
+      if (ret < 0)
+        {
+          candbg("ERROR: can_register failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Now we are initialized */
+
+      initialized = true;
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_STM32_CAN || CONFIG_STM32_CAN2 || CONFIG_STM32_CAN3 */
diff --git a/nuttx/drivers/Makefile b/nuttx/drivers/Makefile
index a6fcbe1f04..4254acac09 100644
--- a/nuttx/drivers/Makefile
+++ b/nuttx/drivers/Makefile
@@ -65,12 +65,15 @@ include wireless/Make.defs
 
 ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
   CSRCS += dev_null.c dev_zero.c loop.c
+
 ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y)
   CSRCS += ramdisk.c rwbuffer.c
 endif
-ifneq ($(CONFIG_CAN),y)
+
+ifeq ($(CONFIG_CAN),y)
   CSRCS += can.c
 endif
+
 ifeq ($(CONFIG_PWM),y)
   CSRCS += pwm.c
 endif
diff --git a/nuttx/include/nuttx/can.h b/nuttx/include/nuttx/can.h
index d839bbb171..3f77afc7a6 100644
--- a/nuttx/include/nuttx/can.h
+++ b/nuttx/include/nuttx/can.h
@@ -88,14 +88,15 @@
 
 /* CAN message support */
 
-#define CAN_MAXDATALEN 8
+#define CAN_MAXDATALEN            8
+#define CAN_MAXMSGID              0x07ff
 
 #define CAN_ID(hdr)               ((uint16_t)(hdr) >> 5)
 #define CAN_RTR(hdr)              (((hdr) & 0x0010) != 0)
 #define CAN_DLC(hdr)              ((hdr) & 0x0f)
 #define CAN_MSGLEN(hdr)           (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
 
-#define CAN_MSG(id, rtr, dlc)     ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc)
+#define CAN_HDR(id, rtr, dlc)     ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc)
 
 /* Built-in ioctl commands
  *