system/devices/can.rst

22 open-source/design/hardware solution. The core designer
31 to work on CAN hardware emulation on QEMU.
34 ----------------------------------------------------------
35 When QEMU with CAN PCI support is compiled then one of the next
38 (1) CAN bus Kvaser PCI CAN-S (single SJA1000 channel) board. QEMU startup options::
40     -object can-bus,id=canbus0
41     -device kvaser_pci,canbus=canbus0
43 Add "can-host-socketcan" object to connect device to host system CAN bus::
45     -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0
47 (2) CAN bus PCM-3680I PCI (dual SJA1000 channel) emulation::
49     -object can-bus,id=canbus0
50     -device pcm3680_pci,canbus0=canbus0,canbus1=canbus0
54     -object can-bus,id=canbus0
55     -object can-bus,id=canbus1
56     -device pcm3680_pci,canbus0=canbus0,canbus1=canbus1
58 (3) CAN bus MIOe-3680 PCI (dual SJA1000 channel) emulation::
60     -device mioe3680_pci,canbus0=canbus0
64 The tested setup was Linux 4.9 kernel on the host and guest side.
66 Example for qemu-system-x86_64::
68     qemu-system-x86_64 -accel kvm -kernel /boot/vmlinuz-4.9.0-4-amd64 \
69       -initrd ramdisk.cpio \
70       -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
71       -object can-bus,id=canbus0 \
72       -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
73       -device kvaser_pci,canbus=canbus0 \
74       -nographic -append "console=ttyS0"
76 Example for qemu-system-arm::
78     qemu-system-arm -cpu arm1176 -m 256 -M versatilepb \
79       -kernel kernel-qemu-arm1176-versatilepb \
80       -hda rpi-wheezy-overlay \
81       -append "console=ttyAMA0 root=/dev/sda2 ro init=/sbin/init-overlay" \
82       -nographic \
83       -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
84       -object can-bus,id=canbus0 \
85       -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
86       -device kvaser_pci,canbus=canbus0,host=can0 \
102 traffic with "candump" command which is included in "can-utils"::
107 ---------------------------
108 This open-source core provides CAN FD support. CAN FD drames are
116 Example how to connect the canbus0-bus (virtual wire) to the host
119 is setup according to the previous SJA1000 section::
121   qemu-system-x86_64 -enable-kvm -kernel /boot/vmlinuz-4.19.52+ \
122       -initrd ramdisk.cpio \
123       -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
124       -vga cirrus \
125       -append "console=ttyS0" \
126       -object can-bus,id=canbus0-bus \
127       -object can-host-socketcan,if=can0,canbus=canbus0-bus,id=canbus0-socketcan \
128       -device ctucan_pci,canbus0=canbus0-bus,canbus1=canbus0-bus \
129       -nographic
131 Setup of CTU CAN FD controller in a guest Linux system::
137     if [ -e  $ifc/device/vendor ] ; then
138       if ! grep -q 0x1760 $ifc/device/vendor ; then
144     if [ -e  $ifc/device/device ] ; then
145        if ! grep -q 0xff00 $ifc/device/device ; then
166   cangen can0 -f
170   cangen can0 -b
177 ------------------------
180 …2) `Repository with development can-pci branch at Czech Technical University <https://gitlab.fel.c…
181 …(3) `RTEMS page describing project <https://devel.rtems.org/wiki/Developer/Simulators/QEMU/CANEmul…
182 …its use with CANopen emulation <http://cmp.felk.cvut.cz/~pisa/can/doc/rtlws-17-pisa-qemu-can.pdf>`_
183 …in Real-time Control Applications Slides from LinuxDays 2017 (include updated RTLWS 2015 content) …
184  (6) `Linux SocketCAN utilities <https://github.com/linux-can/can-utils>`_
188 …n <https://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/doc/linux_driver/build/ctucanfd-driver.html>`_
189 …acing for Intel/Altera Cyclone IV based board <https://gitlab.fel.cvut.cz/canbus/pcie-ctu_can_fd>`_