@@ -82,6 +82,7 @@ Emulated Devices
.. toctree::
:maxdepth: 1
+ devices/can.rst
devices/ivshmem.rst
devices/net.rst
devices/nvme.rst
similarity index 68%
rename from docs/can.txt
rename to docs/system/devices/can.rst
@@ -1,6 +1,5 @@
-QEMU CAN bus emulation support
-==============================
-
+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
@@ -32,34 +31,39 @@ 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
+(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
+
+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
+(2) CAN bus PCM-3680I PCI (dual SJA1000 channel) emulation::
+
-object can-bus,id=canbus0
-device pcm3680_pci,canbus0=canbus0,canbus1=canbus0
- another example:
+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
+(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 ''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:
+
+Example for qemu-system-x86_64::
qemu-system-x86_64 -accel kvm -kernel /boot/vmlinuz-4.9.0-4-amd64 \
-initrd ramdisk.cpio \
@@ -69,7 +73,7 @@ Example for qemu-system-x86_64:
-device kvaser_pci,canbus=canbus0 \
-nographic -append "console=ttyS0"
-Example for qemu-system-arm:
+Example for qemu-system-arm::
qemu-system-arm -cpu arm1176 -m 256 -M versatilepb \
-kernel kernel-qemu-arm1176-versatilepb \
@@ -84,24 +88,23 @@ Example for qemu-system-arm:
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
+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
+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".
+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.
@@ -113,7 +116,7 @@ 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.
+is setup according to the previous SJA1000 section::
qemu-system-x86_64 -enable-kvm -kernel /boot/vmlinuz-4.19.52+ \
-initrd ramdisk.cpio \
@@ -125,7 +128,7 @@ is setup according to the previous SJA1000 section.
-device ctucan_pci,canbus0=canbus0-bus,canbus1=canbus0-bus \
-nographic
-Setup of CTU CAN FD controller in a guest Linux system
+Setup of CTU CAN FD controller in a guest Linux system::
insmod ctucanfd.ko || modprobe ctucanfd
insmod ctucanfd_pci.ko || modprobe ctucanfd_pci
@@ -150,19 +153,19 @@ Setup of CTU CAN FD controller in a guest Linux system
/bin/ip link set $ifc up
done
-The test can run for example
+The test can run for example::
candump can1
-in the guest system and next commands in the host system for basic CAN
+in the guest system and next commands in the host system for basic CAN::
cangen can0
-for CAN FD without bitrate switch
+for CAN FD without bitrate switch::
cangen can0 -f
-and with bitrate switch
+and with bitrate switch::
cangen can0 -b
@@ -170,29 +173,16 @@ The test can be run viceversa, generate messages in the guest system and capture
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
+ (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>`_