hw/net/can: Documentation for CTU CAN FD IP open hardware core emulation.
Updated MAINTAINERS for CAN bus related emulation as well. Signed-off-by: Pavel Pisa <pisa@cmp.felk.cvut.cz> Message-Id: <6d1b8db69efc4e5cfad702d2150e1960e8f63572.1600069689.git.pisa@cmp.felk.cvut.cz> Signed-off-by: Paolo Bonzini <pbonzini@redhat.com>
This commit is contained in:
Pavel Pisa
Paolo Bonzini
parent
aa406e8b7e
commit
de4d4adb58
|
|
@ -2091,6 +2091,15 @@ F: hw/rx/
|
|||
F: include/hw/intc/rx_icu.h
|
||||
F: include/hw/rx/
|
||||
|
||||
CAN bus subsystem and hardware
|
||||
M: Pavel Pisa <pisa@cmp.felk.cvut.cz>
|
||||
M: Vikram Garhwal <fnu.vikram@xilinx.com>
|
||||
S: Maintained
|
||||
W: https://canbus.pages.fel.cvut.cz/
|
||||
F: net/can/*
|
||||
F: hw/net/can/*
|
||||
F: include/net/can_*.h
|
||||
|
||||
Subsystems
|
||||
----------
|
||||
Audio
|
||||
|
|
|
|||
113
docs/can.txt
113
docs/can.txt
|
|
@ -8,13 +8,22 @@ 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 for it but at this time only SJA1000 chip
|
||||
controller is implemented.
|
||||
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 theses 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
|
||||
|
|
@ -22,8 +31,8 @@ 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
|
||||
=================================
|
||||
Examples how to use CAN emulation for SJA1000 based borads
|
||||
==========================================================
|
||||
|
||||
When QEMU with CAN PCI support is compiled then one of the next
|
||||
CAN boards can be selected
|
||||
|
|
@ -90,18 +99,100 @@ 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 borad emulation is provided for now (the device identifier is
|
||||
ctucan_pci). The defauld 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) Repository with development branch can-pci at Czech Technical University
|
||||
https://gitlab.fel.cvut.cz/canbus/qemu-canbus
|
||||
(2) GitHub repository with can-pci and our other changes included
|
||||
(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://rtime.felk.cvut.cz/publications/public/rtlws2015-qemu-can.pdf
|
||||
Slides
|
||||
http://rtime.felk.cvut.cz/publications/public/rtlws2015-qemu-can-slides.pdf
|
||||
(5) Linux SocketCAN utilities
|
||||
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
|
||||
|
|
|
|||
Loading…
Reference in New Issue