+++ /dev/null
-QEMU CAN bus emulation support
-==============================
-
-The CAN bus emulation provides mechanism to connect multiple
-emulated CAN controller chips together by one or multiple CAN busses
-(the controller device "canbus" parameter). The individual busses
-can be connected to host system CAN API (at this time only Linux
-SocketCAN is supported).
-
-The concept of busses is generic and different CAN controllers
-can be implemented.
-
-The initial submission implemented SJA1000 controller which
-is common and well supported by by drivers for the most operating
-systems.
-
-The PCI addon card hardware has been selected as the first CAN
-interface to implement because such device can be easily connected
-to systems with different CPU architectures (x86, PowerPC, Arm, etc.).
-
-In 2020, CTU CAN FD controller model has been added as part
-of the bachelor thesis of Jan Charvat. This controller is complete
-open-source/design/hardware solution. The core designer
-of the project is Ondrej Ille, the financial support has been
-provided by CTU, and more companies including Volkswagen subsidiaries.
-
-The project has been initially started in frame of RTEMS GSoC 2013
-slot by Jin Yang under our mentoring The initial idea was to provide generic
-CAN subsystem for RTEMS. But lack of common environment for code and RTEMS
-testing lead to goal change to provide environment which provides complete
-emulated environment for testing and RTEMS GSoC slot has been donated
-to work on CAN hardware emulation on QEMU.
-
-Examples how to use CAN emulation for SJA1000 based boards
-==========================================================
-
-When QEMU with CAN PCI support is compiled then one of the next
-CAN boards can be selected
-
- (1) CAN bus Kvaser PCI CAN-S (single SJA1000 channel) boad. QEMU startup options
- -object can-bus,id=canbus0
- -device kvaser_pci,canbus=canbus0
- Add "can-host-socketcan" object to connect device to host system CAN bus
- -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0
-
- (2) CAN bus PCM-3680I PCI (dual SJA1000 channel) emulation
- -object can-bus,id=canbus0
- -device pcm3680_pci,canbus0=canbus0,canbus1=canbus0
-
- another example:
- -object can-bus,id=canbus0
- -object can-bus,id=canbus1
- -device pcm3680_pci,canbus0=canbus0,canbus1=canbus1
-
- (3) CAN bus MIOe-3680 PCI (dual SJA1000 channel) emulation
- -device mioe3680_pci,canbus0=canbus0
-
-
-The ''kvaser_pci'' board/device model is compatible with and has been tested with
-''kvaser_pci'' driver included in mainline Linux kernel.
-The tested setup was Linux 4.9 kernel on the host and guest side.
-Example for qemu-system-x86_64:
-
- qemu-system-x86_64 -accel kvm -kernel /boot/vmlinuz-4.9.0-4-amd64 \
- -initrd ramdisk.cpio \
- -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
- -object can-bus,id=canbus0 \
- -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
- -device kvaser_pci,canbus=canbus0 \
- -nographic -append "console=ttyS0"
-
-Example for qemu-system-arm:
-
- qemu-system-arm -cpu arm1176 -m 256 -M versatilepb \
- -kernel kernel-qemu-arm1176-versatilepb \
- -hda rpi-wheezy-overlay \
- -append "console=ttyAMA0 root=/dev/sda2 ro init=/sbin/init-overlay" \
- -nographic \
- -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
- -object can-bus,id=canbus0 \
- -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
- -device kvaser_pci,canbus=canbus0,host=can0 \
-
-The CAN interface of the host system has to be configured for proper
-bitrate and set up. Configuration is not propagated from emulated
-devices through bus to the physical host device. Example configuration
-for 1 Mbit/s
-
- ip link set can0 type can bitrate 1000000
- ip link set can0 up
-
-Virtual (host local only) can interface can be used on the host
-side instead of physical interface
-
- ip link add dev can0 type vcan
-
-The CAN interface on the host side can be used to analyze CAN
-traffic with "candump" command which is included in "can-utils".
-
- candump can0
-
-CTU CAN FD support examples
-===========================
-
-This open-source core provides CAN FD support. CAN FD drames are
-delivered even to the host systems when SocketCAN interface is found
-CAN FD capable.
-
-The PCIe board emulation is provided for now (the device identifier is
-ctucan_pci). The default build defines two CTU CAN FD cores
-on the board.
-
-Example how to connect the canbus0-bus (virtual wire) to the host
-Linux system (SocketCAN used) and to both CTU CAN FD cores emulated
-on the corresponding PCI card expects that host system CAN bus
-is setup according to the previous SJA1000 section.
-
- qemu-system-x86_64 -enable-kvm -kernel /boot/vmlinuz-4.19.52+ \
- -initrd ramdisk.cpio \
- -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
- -vga cirrus \
- -append "console=ttyS0" \
- -object can-bus,id=canbus0-bus \
- -object can-host-socketcan,if=can0,canbus=canbus0-bus,id=canbus0-socketcan \
- -device ctucan_pci,canbus0=canbus0-bus,canbus1=canbus0-bus \
- -nographic
-
-Setup of CTU CAN FD controller in a guest Linux system
-
- insmod ctucanfd.ko || modprobe ctucanfd
- insmod ctucanfd_pci.ko || modprobe ctucanfd_pci
-
- for ifc in /sys/class/net/can* ; do
- if [ -e $ifc/device/vendor ] ; then
- if ! grep -q 0x1760 $ifc/device/vendor ; then
- continue;
- fi
- else
- continue;
- fi
- if [ -e $ifc/device/device ] ; then
- if ! grep -q 0xff00 $ifc/device/device ; then
- continue;
- fi
- else
- continue;
- fi
- ifc=$(basename $ifc)
- /bin/ip link set $ifc type can bitrate 1000000 dbitrate 10000000 fd on
- /bin/ip link set $ifc up
- done
-
-The test can run for example
-
- candump can1
-
-in the guest system and next commands in the host system for basic CAN
-
- cangen can0
-
-for CAN FD without bitrate switch
-
- cangen can0 -f
-
-and with bitrate switch
-
- cangen can0 -b
-
-The test can be run viceversa, generate messages in the guest system and capture them
-in the host one and much more combinations.
-
-Links to other resources
-========================
-
- (1) CAN related projects at Czech Technical University, Faculty of Electrical Engineering
- http://canbus.pages.fel.cvut.cz/
- (2) Repository with development can-pci branch at Czech Technical University
- https://gitlab.fel.cvut.cz/canbus/qemu-canbus
- (3) RTEMS page describing project
- https://devel.rtems.org/wiki/Developer/Simulators/QEMU/CANEmulation
- (4) RTLWS 2015 article about the project and its use with CANopen emulation
- http://cmp.felk.cvut.cz/~pisa/can/doc/rtlws-17-pisa-qemu-can.pdf
- (5) GNU/Linux, CAN and CANopen in Real-time Control Applications
- Slides from LinuxDays 2017 (include updated RTLWS 2015 content)
- https://www.linuxdays.cz/2017/video/Pavel_Pisa-CAN_canopen.pdf
- (6) Linux SocketCAN utilities
- https://github.com/linux-can/can-utils/
- (7) CTU CAN FD project including core VHDL design, Linux driver,
- test utilities etc.
- https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core
- (8) CTU CAN FD Core Datasheet Documentation
- http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/Progdokum.pdf
- (9) CTU CAN FD Core System Architecture Documentation
- http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/ctu_can_fd_architecture.pdf
- (10) CTU CAN FD Driver Documentation
- http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/driver_doc/ctucanfd-driver.html
- (11) Integration with PCIe interfacing for Intel/Altera Cyclone IV based board
- https://gitlab.fel.cvut.cz/canbus/pcie-ctu_can_fd
--- /dev/null
+CAN Bus Emulation Support
+=========================
+The CAN bus emulation provides mechanism to connect multiple
+emulated CAN controller chips together by one or multiple CAN busses
+(the controller device "canbus" parameter). The individual busses
+can be connected to host system CAN API (at this time only Linux
+SocketCAN is supported).
+
+The concept of busses is generic and different CAN controllers
+can be implemented.
+
+The initial submission implemented SJA1000 controller which
+is common and well supported by by drivers for the most operating
+systems.
+
+The PCI addon card hardware has been selected as the first CAN
+interface to implement because such device can be easily connected
+to systems with different CPU architectures (x86, PowerPC, Arm, etc.).
+
+In 2020, CTU CAN FD controller model has been added as part
+of the bachelor thesis of Jan Charvat. This controller is complete
+open-source/design/hardware solution. The core designer
+of the project is Ondrej Ille, the financial support has been
+provided by CTU, and more companies including Volkswagen subsidiaries.
+
+The project has been initially started in frame of RTEMS GSoC 2013
+slot by Jin Yang under our mentoring The initial idea was to provide generic
+CAN subsystem for RTEMS. But lack of common environment for code and RTEMS
+testing lead to goal change to provide environment which provides complete
+emulated environment for testing and RTEMS GSoC slot has been donated
+to work on CAN hardware emulation on QEMU.
+
+Examples how to use CAN emulation for SJA1000 based boards
+----------------------------------------------------------
+When QEMU with CAN PCI support is compiled then one of the next
+CAN boards can be selected
+
+(1) CAN bus Kvaser PCI CAN-S (single SJA1000 channel) board. QEMU startup options::
+
+ -object can-bus,id=canbus0
+ -device kvaser_pci,canbus=canbus0
+
+Add "can-host-socketcan" object to connect device to host system CAN bus::
+
+ -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0
+
+(2) CAN bus PCM-3680I PCI (dual SJA1000 channel) emulation::
+
+ -object can-bus,id=canbus0
+ -device pcm3680_pci,canbus0=canbus0,canbus1=canbus0
+
+Another example::
+
+ -object can-bus,id=canbus0
+ -object can-bus,id=canbus1
+ -device pcm3680_pci,canbus0=canbus0,canbus1=canbus1
+
+(3) CAN bus MIOe-3680 PCI (dual SJA1000 channel) emulation::
+
+ -device mioe3680_pci,canbus0=canbus0
+
+The ''kvaser_pci'' board/device model is compatible with and has been tested with
+the ''kvaser_pci'' driver included in mainline Linux kernel.
+The tested setup was Linux 4.9 kernel on the host and guest side.
+
+Example for qemu-system-x86_64::
+
+ qemu-system-x86_64 -accel kvm -kernel /boot/vmlinuz-4.9.0-4-amd64 \
+ -initrd ramdisk.cpio \
+ -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
+ -object can-bus,id=canbus0 \
+ -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
+ -device kvaser_pci,canbus=canbus0 \
+ -nographic -append "console=ttyS0"
+
+Example for qemu-system-arm::
+
+ qemu-system-arm -cpu arm1176 -m 256 -M versatilepb \
+ -kernel kernel-qemu-arm1176-versatilepb \
+ -hda rpi-wheezy-overlay \
+ -append "console=ttyAMA0 root=/dev/sda2 ro init=/sbin/init-overlay" \
+ -nographic \
+ -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
+ -object can-bus,id=canbus0 \
+ -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
+ -device kvaser_pci,canbus=canbus0,host=can0 \
+
+The CAN interface of the host system has to be configured for proper
+bitrate and set up. Configuration is not propagated from emulated
+devices through bus to the physical host device. Example configuration
+for 1 Mbit/s::
+
+ ip link set can0 type can bitrate 1000000
+ ip link set can0 up
+
+Virtual (host local only) can interface can be used on the host
+side instead of physical interface::
+
+ ip link add dev can0 type vcan
+
+The CAN interface on the host side can be used to analyze CAN
+traffic with "candump" command which is included in "can-utils"::
+
+ candump can0
+
+CTU CAN FD support examples
+---------------------------
+This open-source core provides CAN FD support. CAN FD drames are
+delivered even to the host systems when SocketCAN interface is found
+CAN FD capable.
+
+The PCIe board emulation is provided for now (the device identifier is
+ctucan_pci). The default build defines two CTU CAN FD cores
+on the board.
+
+Example how to connect the canbus0-bus (virtual wire) to the host
+Linux system (SocketCAN used) and to both CTU CAN FD cores emulated
+on the corresponding PCI card expects that host system CAN bus
+is setup according to the previous SJA1000 section::
+
+ qemu-system-x86_64 -enable-kvm -kernel /boot/vmlinuz-4.19.52+ \
+ -initrd ramdisk.cpio \
+ -virtfs local,path=shareddir,security_model=none,mount_tag=shareddir \
+ -vga cirrus \
+ -append "console=ttyS0" \
+ -object can-bus,id=canbus0-bus \
+ -object can-host-socketcan,if=can0,canbus=canbus0-bus,id=canbus0-socketcan \
+ -device ctucan_pci,canbus0=canbus0-bus,canbus1=canbus0-bus \
+ -nographic
+
+Setup of CTU CAN FD controller in a guest Linux system::
+
+ insmod ctucanfd.ko || modprobe ctucanfd
+ insmod ctucanfd_pci.ko || modprobe ctucanfd_pci
+
+ for ifc in /sys/class/net/can* ; do
+ if [ -e $ifc/device/vendor ] ; then
+ if ! grep -q 0x1760 $ifc/device/vendor ; then
+ continue;
+ fi
+ else
+ continue;
+ fi
+ if [ -e $ifc/device/device ] ; then
+ if ! grep -q 0xff00 $ifc/device/device ; then
+ continue;
+ fi
+ else
+ continue;
+ fi
+ ifc=$(basename $ifc)
+ /bin/ip link set $ifc type can bitrate 1000000 dbitrate 10000000 fd on
+ /bin/ip link set $ifc up
+ done
+
+The test can run for example::
+
+ candump can1
+
+in the guest system and next commands in the host system for basic CAN::
+
+ cangen can0
+
+for CAN FD without bitrate switch::
+
+ cangen can0 -f
+
+and with bitrate switch::
+
+ cangen can0 -b
+
+The test can be run viceversa, generate messages in the guest system and capture them
+in the host one and much more combinations.
+
+Links to other resources
+------------------------
+
+ (1) `CAN related projects at Czech Technical University, Faculty of Electrical Engineering <http://canbus.pages.fel.cvut.cz>`_
+ (2) `Repository with development can-pci branch at Czech Technical University <https://gitlab.fel.cvut.cz/canbus/qemu-canbus>`_
+ (3) `RTEMS page describing project <https://devel.rtems.org/wiki/Developer/Simulators/QEMU/CANEmulation>`_
+ (4) `RTLWS 2015 article about the project and its use with CANopen emulation <http://cmp.felk.cvut.cz/~pisa/can/doc/rtlws-17-pisa-qemu-can.pdf>`_
+ (5) `GNU/Linux, CAN and CANopen in Real-time Control Applications Slides from LinuxDays 2017 (include updated RTLWS 2015 content) <https://www.linuxdays.cz/2017/video/Pavel_Pisa-CAN_canopen.pdf>`_
+ (6) `Linux SocketCAN utilities <https://github.com/linux-can/can-utils>`_
+ (7) `CTU CAN FD project including core VHDL design, Linux driver, test utilities etc. <https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core>`_
+ (8) `CTU CAN FD Core Datasheet Documentation <http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/Progdokum.pdf>`_
+ (9) `CTU CAN FD Core System Architecture Documentation <http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/ctu_can_fd_architecture.pdf>`_
+ (10) `CTU CAN FD Driver Documentation <http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/driver_doc/ctucanfd-driver.html>`_
+ (11) `Integration with PCIe interfacing for Intel/Altera Cyclone IV based board <https://gitlab.fel.cvut.cz/canbus/pcie-ctu_can_fd>`_
projects / qemu.git / commitdiff