system/devices/can.rst

22 open-source/design/hardware solution. The core designer
34 ----------------------------------------------------------
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
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 \
93   ip link set can0 type can bitrate 1000000
94   ip link set can0 up
99   ip link add dev can0 type vcan
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
113 ctucan_pci). The default build defines two CTU CAN FD cores
116 Example how to connect the canbus0-bus (virtual wire) to the host
117 Linux system (SocketCAN used) and to both CTU CAN FD cores emulated
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
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
152     /bin/ip link set $ifc type can bitrate 1000000 dbitrate 10000000 fd on
153     /bin/ip link set $ifc up
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…
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>`_