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<section id="can-bus-emulation-support">
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<h1>CAN Bus Emulation Support<a class="headerlink" href="#can-bus-emulation-support" title="Link to this heading"></a></h1>
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<p>The CAN bus emulation provides mechanism to connect multiple
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emulated CAN controller chips together by one or multiple CAN busses
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(the controller device “canbus” parameter). The individual busses
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can be connected to host system CAN API (at this time only Linux
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SocketCAN is supported).</p>
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<p>The concept of busses is generic and different CAN controllers
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can be implemented.</p>
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<p>The initial submission implemented SJA1000 controller which
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is common and well supported by by drivers for the most operating
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systems.</p>
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<p>The PCI addon card hardware has been selected as the first CAN
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interface to implement because such device can be easily connected
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to systems with different CPU architectures (x86, PowerPC, Arm, etc.).</p>
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<p>In 2020, CTU CAN FD controller model has been added as part
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of the bachelor thesis of Jan Charvat. This controller is complete
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open-source/design/hardware solution. The core designer
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of the project is Ondrej Ille, the financial support has been
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provided by CTU, and more companies including Volkswagen subsidiaries.</p>
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<p>The project has been initially started in frame of RTEMS GSoC 2013
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slot by Jin Yang under our mentoring The initial idea was to provide generic
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CAN subsystem for RTEMS. But lack of common environment for code and RTEMS
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testing lead to goal change to provide environment which provides complete
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emulated environment for testing and RTEMS GSoC slot has been donated
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to work on CAN hardware emulation on QEMU.</p>
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<section id="examples-how-to-use-can-emulation-for-sja1000-based-boards">
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<h2>Examples how to use CAN emulation for SJA1000 based boards<a class="headerlink" href="#examples-how-to-use-can-emulation-for-sja1000-based-boards" title="Link to this heading"></a></h2>
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<p>When QEMU with CAN PCI support is compiled then one of the next
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CAN boards can be selected</p>
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<ol class="arabic">
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<li><p>CAN bus Kvaser PCI CAN-S (single SJA1000 channel) board. QEMU startup options:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus0</span>
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<span class="o">-</span><span class="n">device</span> <span class="n">kvaser_pci</span><span class="p">,</span><span class="n">canbus</span><span class="o">=</span><span class="n">canbus0</span>
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</pre></div>
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</div>
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</li>
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</ol>
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<p>Add “can-host-socketcan” object to connect device to host system CAN bus:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">host</span><span class="o">-</span><span class="n">socketcan</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canhost0</span><span class="p">,</span><span class="k">if</span><span class="o">=</span><span class="n">can0</span><span class="p">,</span><span class="n">canbus</span><span class="o">=</span><span class="n">canbus0</span>
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</pre></div>
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</div>
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<ol class="arabic" start="2">
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<li><p>CAN bus PCM-3680I PCI (dual SJA1000 channel) emulation:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus0</span>
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<span class="o">-</span><span class="n">device</span> <span class="n">pcm3680_pci</span><span class="p">,</span><span class="n">canbus0</span><span class="o">=</span><span class="n">canbus0</span><span class="p">,</span><span class="n">canbus1</span><span class="o">=</span><span class="n">canbus0</span>
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</pre></div>
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</div>
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</li>
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</ol>
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<p>Another example:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus0</span>
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<span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus1</span>
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<span class="o">-</span><span class="n">device</span> <span class="n">pcm3680_pci</span><span class="p">,</span><span class="n">canbus0</span><span class="o">=</span><span class="n">canbus0</span><span class="p">,</span><span class="n">canbus1</span><span class="o">=</span><span class="n">canbus1</span>
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</pre></div>
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</div>
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<ol class="arabic" start="3">
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<li><p>CAN bus MIOe-3680 PCI (dual SJA1000 channel) emulation:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">-</span><span class="n">device</span> <span class="n">mioe3680_pci</span><span class="p">,</span><span class="n">canbus0</span><span class="o">=</span><span class="n">canbus0</span>
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</pre></div>
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</div>
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</li>
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</ol>
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<p>The ‘’kvaser_pci’’ board/device model is compatible with and has been tested with
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the ‘’kvaser_pci’’ driver included in mainline Linux kernel.
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The tested setup was Linux 4.9 kernel on the host and guest side.</p>
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<p>Example for qemu-system-x86_64:</p>
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||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">qemu</span><span class="o">-</span><span class="n">system</span><span class="o">-</span><span class="n">x86_64</span> <span class="o">-</span><span class="n">accel</span> <span class="n">kvm</span> <span class="o">-</span><span class="n">kernel</span> <span class="o">/</span><span class="n">boot</span><span class="o">/</span><span class="n">vmlinuz</span><span class="o">-</span><span class="mf">4.9.0</span><span class="o">-</span><span class="mi">4</span><span class="o">-</span><span class="n">amd64</span> \
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<span class="o">-</span><span class="n">initrd</span> <span class="n">ramdisk</span><span class="o">.</span><span class="n">cpio</span> \
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||
<span class="o">-</span><span class="n">virtfs</span> <span class="n">local</span><span class="p">,</span><span class="n">path</span><span class="o">=</span><span class="n">shareddir</span><span class="p">,</span><span class="n">security_model</span><span class="o">=</span><span class="n">none</span><span class="p">,</span><span class="n">mount_tag</span><span class="o">=</span><span class="n">shareddir</span> \
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<span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus0</span> \
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<span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">host</span><span class="o">-</span><span class="n">socketcan</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canhost0</span><span class="p">,</span><span class="k">if</span><span class="o">=</span><span class="n">can0</span><span class="p">,</span><span class="n">canbus</span><span class="o">=</span><span class="n">canbus0</span> \
|
||
<span class="o">-</span><span class="n">device</span> <span class="n">kvaser_pci</span><span class="p">,</span><span class="n">canbus</span><span class="o">=</span><span class="n">canbus0</span> \
|
||
<span class="o">-</span><span class="n">nographic</span> <span class="o">-</span><span class="n">append</span> <span class="s2">"console=ttyS0"</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Example for qemu-system-arm:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">qemu</span><span class="o">-</span><span class="n">system</span><span class="o">-</span><span class="n">arm</span> <span class="o">-</span><span class="n">cpu</span> <span class="n">arm1176</span> <span class="o">-</span><span class="n">m</span> <span class="mi">256</span> <span class="o">-</span><span class="n">M</span> <span class="n">versatilepb</span> \
|
||
<span class="o">-</span><span class="n">kernel</span> <span class="n">kernel</span><span class="o">-</span><span class="n">qemu</span><span class="o">-</span><span class="n">arm1176</span><span class="o">-</span><span class="n">versatilepb</span> \
|
||
<span class="o">-</span><span class="n">hda</span> <span class="n">rpi</span><span class="o">-</span><span class="n">wheezy</span><span class="o">-</span><span class="n">overlay</span> \
|
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<span class="o">-</span><span class="n">append</span> <span class="s2">"console=ttyAMA0 root=/dev/sda2 ro init=/sbin/init-overlay"</span> \
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<span class="o">-</span><span class="n">nographic</span> \
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<span class="o">-</span><span class="n">virtfs</span> <span class="n">local</span><span class="p">,</span><span class="n">path</span><span class="o">=</span><span class="n">shareddir</span><span class="p">,</span><span class="n">security_model</span><span class="o">=</span><span class="n">none</span><span class="p">,</span><span class="n">mount_tag</span><span class="o">=</span><span class="n">shareddir</span> \
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<span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus0</span> \
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<span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">host</span><span class="o">-</span><span class="n">socketcan</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canhost0</span><span class="p">,</span><span class="k">if</span><span class="o">=</span><span class="n">can0</span><span class="p">,</span><span class="n">canbus</span><span class="o">=</span><span class="n">canbus0</span> \
|
||
<span class="o">-</span><span class="n">device</span> <span class="n">kvaser_pci</span><span class="p">,</span><span class="n">canbus</span><span class="o">=</span><span class="n">canbus0</span><span class="p">,</span><span class="n">host</span><span class="o">=</span><span class="n">can0</span> \
|
||
</pre></div>
|
||
</div>
|
||
<p>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:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ip</span> <span class="n">link</span> <span class="nb">set</span> <span class="n">can0</span> <span class="nb">type</span> <span class="n">can</span> <span class="n">bitrate</span> <span class="mi">1000000</span>
|
||
<span class="n">ip</span> <span class="n">link</span> <span class="nb">set</span> <span class="n">can0</span> <span class="n">up</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Virtual (host local only) can interface can be used on the host
|
||
side instead of physical interface:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ip</span> <span class="n">link</span> <span class="n">add</span> <span class="n">dev</span> <span class="n">can0</span> <span class="nb">type</span> <span class="n">vcan</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>The CAN interface on the host side can be used to analyze CAN
|
||
traffic with “candump” command which is included in “can-utils”:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">candump</span> <span class="n">can0</span>
|
||
</pre></div>
|
||
</div>
|
||
</section>
|
||
<section id="ctu-can-fd-support-examples">
|
||
<h2>CTU CAN FD support examples<a class="headerlink" href="#ctu-can-fd-support-examples" title="Link to this heading"></a></h2>
|
||
<p>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.</p>
|
||
<p>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.</p>
|
||
<p>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:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">qemu</span><span class="o">-</span><span class="n">system</span><span class="o">-</span><span class="n">x86_64</span> <span class="o">-</span><span class="n">enable</span><span class="o">-</span><span class="n">kvm</span> <span class="o">-</span><span class="n">kernel</span> <span class="o">/</span><span class="n">boot</span><span class="o">/</span><span class="n">vmlinuz</span><span class="o">-</span><span class="mf">4.19.52</span><span class="o">+</span> \
|
||
<span class="o">-</span><span class="n">initrd</span> <span class="n">ramdisk</span><span class="o">.</span><span class="n">cpio</span> \
|
||
<span class="o">-</span><span class="n">virtfs</span> <span class="n">local</span><span class="p">,</span><span class="n">path</span><span class="o">=</span><span class="n">shareddir</span><span class="p">,</span><span class="n">security_model</span><span class="o">=</span><span class="n">none</span><span class="p">,</span><span class="n">mount_tag</span><span class="o">=</span><span class="n">shareddir</span> \
|
||
<span class="o">-</span><span class="n">vga</span> <span class="n">cirrus</span> \
|
||
<span class="o">-</span><span class="n">append</span> <span class="s2">"console=ttyS0"</span> \
|
||
<span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus0</span><span class="o">-</span><span class="n">bus</span> \
|
||
<span class="o">-</span><span class="nb">object</span> <span class="n">can</span><span class="o">-</span><span class="n">host</span><span class="o">-</span><span class="n">socketcan</span><span class="p">,</span><span class="k">if</span><span class="o">=</span><span class="n">can0</span><span class="p">,</span><span class="n">canbus</span><span class="o">=</span><span class="n">canbus0</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="nb">id</span><span class="o">=</span><span class="n">canbus0</span><span class="o">-</span><span class="n">socketcan</span> \
|
||
<span class="o">-</span><span class="n">device</span> <span class="n">ctucan_pci</span><span class="p">,</span><span class="n">canbus0</span><span class="o">=</span><span class="n">canbus0</span><span class="o">-</span><span class="n">bus</span><span class="p">,</span><span class="n">canbus1</span><span class="o">=</span><span class="n">canbus0</span><span class="o">-</span><span class="n">bus</span> \
|
||
<span class="o">-</span><span class="n">nographic</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Setup of CTU CAN FD controller in a guest Linux system:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>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
|
||
</pre></div>
|
||
</div>
|
||
<p>The test can run for example:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">candump</span> <span class="n">can1</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>in the guest system and next commands in the host system for basic CAN:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cangen</span> <span class="n">can0</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>for CAN FD without bitrate switch:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cangen</span> <span class="n">can0</span> <span class="o">-</span><span class="n">f</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>and with bitrate switch:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cangen</span> <span class="n">can0</span> <span class="o">-</span><span class="n">b</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>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.</p>
|
||
</section>
|
||
<section id="links-to-other-resources">
|
||
<h2>Links to other resources<a class="headerlink" href="#links-to-other-resources" title="Link to this heading"></a></h2>
|
||
<blockquote>
|
||
<div><ol class="arabic simple">
|
||
<li><p><a class="reference external" href="http://canbus.pages.fel.cvut.cz">CAN related projects at Czech Technical University, Faculty of Electrical Engineering</a></p></li>
|
||
<li><p><a class="reference external" href="https://gitlab.fel.cvut.cz/canbus/qemu-canbus">Repository with development can-pci branch at Czech Technical University</a></p></li>
|
||
<li><p><a class="reference external" href="https://devel.rtems.org/wiki/Developer/Simulators/QEMU/CANEmulation">RTEMS page describing project</a></p></li>
|
||
<li><p><a class="reference external" href="http://cmp.felk.cvut.cz/~pisa/can/doc/rtlws-17-pisa-qemu-can.pdf">RTLWS 2015 article about the project and its use with CANopen emulation</a></p></li>
|
||
<li><p><a class="reference external" href="https://www.linuxdays.cz/2017/video/Pavel_Pisa-CAN_canopen.pdf">GNU/Linux, CAN and CANopen in Real-time Control Applications Slides from LinuxDays 2017 (include updated RTLWS 2015 content)</a></p></li>
|
||
<li><p><a class="reference external" href="https://github.com/linux-can/can-utils">Linux SocketCAN utilities</a></p></li>
|
||
<li><p><a class="reference external" href="https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core">CTU CAN FD project including core VHDL design, Linux driver, test utilities etc.</a></p></li>
|
||
<li><p><a class="reference external" href="http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/doc/Datasheet.pdf">CTU CAN FD Core Datasheet Documentation</a></p></li>
|
||
<li><p><a class="reference external" href="http://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/doc/System_Architecture.pdf">CTU CAN FD Core System Architecture Documentation</a></p></li>
|
||
<li><p><a class="reference external" href="https://canbus.pages.fel.cvut.cz/ctucanfd_ip_core/doc/linux_driver/build/ctucanfd-driver.html">CTU CAN FD Driver Documentation</a></p></li>
|
||
<li><p><a class="reference external" href="https://gitlab.fel.cvut.cz/canbus/pcie-ctu_can_fd">Integration with PCIe interfacing for Intel/Altera Cyclone IV based board</a></p></li>
|
||
</ol>
|
||
</div></blockquote>
|
||
</section>
|
||
</section>
|
||
|
||
|
||
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|
||
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|
||
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