system/devices/can.rst

6 can be connected to host system CAN API (at this time only Linux
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
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 \
88 The CAN interface of the host system has to be configured for proper
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
117 Linux system (SocketCAN used) and to both CTU CAN FD cores emulated
118 on the corresponding PCI card expects that host system CAN bus
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
160 in the guest system and next commands in the host system for basic CAN::
166   cangen can0 -f
170   cangen can0 -b
173 guest system and capturing them in the host system. Other combinations are
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>`_
187 …(9) `CTU CAN FD Core System Architecture Documentation <http://canbus.pages.fel.cvut.cz/ctucanfd_i…
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>`_