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[Qemu-devel] [PATCH 0/5 v2] CAN bus support for QEMU (SJA1000 PCI so far

From: pisa
Subject: [Qemu-devel] [PATCH 0/5 v2] CAN bus support for QEMU (SJA1000 PCI so far)
Date: Thu, 2 Nov 2017 02:00:55 +0100

From: Pavel Pisa <address@hidden>

Basic emulation of CAN bus controller and interconnection for QEMU.

Patches version 2:
The bus emulation and the SJA1000 chip emulation introduced
by individual patches as suggested by Frederic Konrad.
Simple example board to test SJA1000 as single memory-mapped BAR
has been omitted in a new series because emulation of real
existing boards can provide same functions now.
Conditionalized debug printfs changed to be exposed to compiler
syntax check as suggested in review.

The work has been started by Jin Yang in the frame of GSoC 2013 slot
contributed by RTEMS project which has been looking for environment
to allow develop and test CAN drivers for multiple CPU architectures.

I have menthored the project and then done substantial code cleanup
and update to QOM. Deniz Eren then used emulation for SJA1000 base card
driver development for other operating system and contributed
PCM-3680I and MIOe-3680 support.

Some page about the project


FEE CTU GitLab repository with can-pci branch for 2.3, 2.4, 2.7, 2.8 and 2.10
version if QEMU is available there


mirror at GitHub


There are many areas for improvement and extension of the code still
(for example freeze and migration is not implemented. CAN controllers
use proper QOM model but bus/interconnection emulation uses simple broadcast
connection which is required for CAN, but it is not based on QEMU bus model).
I have tried to look into QEMU VLANs implementation but it
does not map straightforward to CAN and I would need some help/opinion
from more advanced developers to decide what is their right
mapping to CAN.

CAN-FD support would be interesting requires other developers/
companies contributions or setup of some project to allow invite
some students and colleagues from my university into project.

But I believe that (even in its actual state) provided solution
is great help for embedded systems developers when they can connect
SocketCAN from one or more embedded systems running in virtual
environment together or with Linux host SocketCAN virtual
or real bus interfaces.

We have even tested our generic CANopen device configured
for CANopen 401 profile for generic I/O running in the virtual
system which can control GPIO inputs/outputs through virtual
industrial I/O card.

Generally QEMU can be interesting setup which allows
to test complete industrial applications in virtual
environment even before real hardware is availabe.


Deniz Eren (2):
  CAN bus PCM-3680I PCI (dual SJA1000 channel) emulation added.
  CAN bus MIOe-3680 PCI (dual SJA1000 channel) emulation added.

Pavel Pisa (3):
  CAN bus simple messages transport implementation for QEMU
  CAN bus SJA1000 chip register level emulation for QEMU
  CAN bus Kvaser PCI CAN-S (single SJA1000 channel) emulation added.

 default-configs/pci.mak   |   3 +
 hw/Makefile.objs          |   1 +
 hw/can/Makefile.objs      |   7 +
 hw/can/can_core.c         | 374 ++++++++++++++++++
 hw/can/can_kvaser_pci.c   | 376 ++++++++++++++++++
 hw/can/can_mioe3680_pci.c | 335 ++++++++++++++++
 hw/can/can_pcm3680_pci.c  | 335 ++++++++++++++++
 hw/can/can_sja1000.c      | 973 ++++++++++++++++++++++++++++++++++++++++++++++
 hw/can/can_sja1000.h      | 176 +++++++++
 include/can/can_emu.h     | 133 +++++++
 10 files changed, 2713 insertions(+)
 create mode 100644 hw/can/Makefile.objs
 create mode 100644 hw/can/can_core.c
 create mode 100644 hw/can/can_kvaser_pci.c
 create mode 100644 hw/can/can_mioe3680_pci.c
 create mode 100644 hw/can/can_pcm3680_pci.c
 create mode 100644 hw/can/can_sja1000.c
 create mode 100644 hw/can/can_sja1000.h
 create mode 100644 include/can/can_emu.h


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