# conn_can test application

Demo application for the CAN stack with conn_can interface.

## Usage

Adapt pin configuration in Makefile to match the used CAN transceiver (e.g. TJA1042_STB_PIN)

Build, flash and start the application:

```
BOARD=<board-name> make flash term
```

To initialize a CAN transceiver device (trx_id = 0)
```
init 0
```

To set a CAN transceiver device's (trx_id = 0) mode to TRX_NORMAL_MODE
```
set_mode 0 0
```

The CAN interfaces are registered at startup to the dll. The list of registered
interfaces and their RIOT names can be retrieved with:
```
test_can list
```

To send a raw CAN frame, id 0x100 with 2 bytes of data 01 02 on interface 0:
```
test_can send 0 100 01 02
```

To send a raw CAN remote request frame, id 0x100 on interface 0 and datalenght 7:
```
test_can sendrtr 0 100 7
```
A remote request frame has a NULL payload but can have a specific data length code (DLC).
Valid DLC val: 0..8

Two threads are launched to enable receiving frames. To receive raw CAN frames,
ids 0x100 and 0x500 with thread 0 on interface 1, with 10s timeout:
```
test_can recv 1 0 10000000 100 500
```

A connection can be closed with its thread id, for instance:
```
test_can close 0
```

To send an ISO-TP datagram, first bind a connection with one of the threads,
source id 700, dest id 708, thread 1 and interface 0:
```
test_can bind_isotp 0 1 700 708
```
Then send the data 01 02 03 04 05 0a 0b 0c:
```
test_can send_isotp 1 01 02 03 04 05 0a 0b 0c
```

To receive from an ISO-TP channel, it must be bound, then with the previous channel,
and 10s timeout:
```
test_can recv_isotp 1 10000000
```

An ISO-TP channel can be closed with:
```
test_can close_isotp 1
```

You can also set a bitrate (this won't work on native with vcan, only with real
interfaces, but then root access are needed), for instance 250000 bit/s with
sampling point 87.5%:
```
test_can set_bitrate 250000 875
```

## Native Setup

For documentation on how to setup CAN on native and send/receive RAW CAN or ISO-TP
frames refer to [README.native.can.md](../candev/README.native.can.md).