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
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:
CAN bus PCM-3680I PCI (dual SJA1000 channel) emulation:
-object can-bus,id=canbus0 -device pcm3680_pci,canbus0=canbus0,canbus1=canbus0
-object can-bus,id=canbus0 -object can-bus,id=canbus1 -device pcm3680_pci,canbus0=canbus0,canbus1=canbus1
CAN bus MIOe-3680 PCI (dual SJA1000 channel) emulation:
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”:
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:
in the guest system and next commands in the host system for basic CAN:
for CAN FD without bitrate switch:
cangen can0 -f
and with bitrate switch:
cangen can0 -b
The test can also be run the other way around, generating messages in the guest system and capturing them in the host system. Other combinations are also possible.
Links to other resources¶
CAN related projects at Czech Technical University, Faculty of Electrical Engineering
Repository with development can-pci branch at Czech Technical University
RTLWS 2015 article about the project and its use with CANopen emulation
GNU/Linux, CAN and CANopen in Real-time Control Applications Slides from LinuxDays 2017 (include updated RTLWS 2015 content)
CTU CAN FD project including core VHDL design, Linux driver, test utilities etc.
Integration with PCIe interfacing for Intel/Altera Cyclone IV based board