boards/sim: add CAN support and configuration
Add host CAN support for sim target. Signed-off-by: p-szafonimateusz <p-szafonimateusz@xiaomi.com>
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p-szafonimateusz
Xiang Xiao
parent
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5 changed files with 163 additions and 0 deletions
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@ -1886,6 +1886,66 @@ NOTES:
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you will find this annoying. You can disable the password protection
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by de-selecting CONFIG_NSH_CONSOLE_LOGIN=y.
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can
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---
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This is a configuration with simulated CAN support. Both CAN character driver
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and SocketCAN are enabled and use the host ``vcan0`` interface.
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The ``vcan0`` host interface must be available when NuttX is started.
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For the CAN character device, there is ``examples/can`` application enabled in
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read-only mode.
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Additionally, SocketCAN ``candump`` and ``cansend`` utils are enabled.
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Below is an example of receiving CAN frames from host to NuttX.
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Requirement: ``cansequence`` tool from ``linux-can/can-utils``
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1. Create virtual CAN on host::
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ip link add dev can0 type vcan
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ifconfig can0 up
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2. Run NuttX::
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./nuttx
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3. Bring up can0 on NuttX::
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nsh> ifup can0
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ifup can0...OK
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4. read CAN messages from SocketCAN on NuttX::
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nsh> candump can0
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5. send CAN messages from host to NuttX::
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$ cansequence can0
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6. frames from host should be received on NuttX::
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nsh> candump can0
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can0 002 [1] 00
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can0 002 [1] 01
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can0 002 [1] 02
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can0 002 [1] 03
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can0 002 [1] 04
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can0 002 [1] 05
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can0 002 [1] 06
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can0 002 [1] 07
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can0 002 [1] 08
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can0 002 [1] 09
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can0 002 [1] 0A
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can0 002 [1] 0B
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can0 002 [1] 0C
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can0 002 [1] 0D
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can0 002 [1] 0E
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can0 002 [1] 0F
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can0 002 [1] 10
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can0 002 [1] 11
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can0 002 [1] 12
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README.txt
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==========
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@ -103,6 +103,21 @@ You should see some squares in different colors displayed in remmina:
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remmina connected to sim's VNC Server
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Running Simulated CAN
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=====================
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The simulator supports CAN support via SocketCAN on the host.
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The CAN interface of the host must be properly configured::
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ip link set can0 type can bitrate 1000000
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ip link set can0 up
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Virtual CAN interface can be used as well::
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ip link add dev can0 type vcan
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ifconfig can0 up
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Supported Boards
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================
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@ -63,3 +63,23 @@ config SIM_RNDIS_MACADDR
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with this selection.
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endif
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if SIM_CANDEV_CHAR
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config SIM_CANDEV_CHAR_IDX
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int "CAN chardev interface"
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default 0
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---help---
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Host SocketCAN network interface used by simulated CAN character driver
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endif
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if SIM_CANDEV_SOCK
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config SIM_CANDEV_SOCK_IDX
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int "CAN SocketCAN interface"
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default 0
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---help---
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Host SocketCAN network interface used by simulated SocketCAN
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endif
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52
boards/sim/sim/sim/configs/can/defconfig
Normal file
52
boards/sim/sim/sim/configs/can/defconfig
Normal file
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@ -0,0 +1,52 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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CONFIG_ALLOW_BSD_COMPONENTS=y
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CONFIG_ARCH="sim"
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CONFIG_ARCH_BOARD="sim"
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CONFIG_ARCH_BOARD_SIM=y
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CONFIG_ARCH_CHIP="sim"
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CONFIG_ARCH_SIM=y
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CONFIG_BOARDCTL_POWEROFF=y
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CONFIG_BOARD_LOOPSPERMSEC=0
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CONFIG_BOOT_RUNFROMEXTSRAM=y
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CONFIG_BUILTIN=y
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CONFIG_CAN=y
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CONFIG_CANUTILS_CANDUMP=y
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CONFIG_CANUTILS_CANSEND=y
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CONFIG_CANUTILS_LIBCANUTILS=y
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CONFIG_CAN_EXTID=y
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CONFIG_CAN_FD=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_EXAMPLES_CAN=y
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CONFIG_EXAMPLES_CAN_READ=y
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CONFIG_FS_PROCFS=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_IDLETHREAD_STACKSIZE=4096
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_NET=y
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CONFIG_NETDEV_IFINDEX=y
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CONFIG_NET_CAN=y
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CONFIG_NET_CAN_ERRORS=y
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CONFIG_NET_CAN_EXTID=y
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CONFIG_NET_CAN_SOCK_OPTS=y
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_DISABLE_PS=y
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CONFIG_NSH_READLINE=y
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CONFIG_READLINE_TABCOMPLETION=y
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CONFIG_SCHED_BACKTRACE=y
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CONFIG_SCHED_EVENTS=y
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CONFIG_SCHED_HAVE_PARENT=y
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CONFIG_SCHED_WAITPID=y
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CONFIG_SIM_CANDEV=y
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CONFIG_SIM_CANDEV_CHAR=y
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CONFIG_SIM_CANDEV_SOCK=y
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CONFIG_START_MONTH=6
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CONFIG_START_YEAR=2008
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CONFIG_SYSTEM_DUMPSTACK=y
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CONFIG_SYSTEM_NSH=y
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@ -553,5 +553,21 @@ int sim_bringup(void)
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usbdev_rndis_initialize(mac);
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#endif
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#ifdef CONFIG_SIM_CANDEV_CHAR
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ret = sim_canchar_initialize(CONFIG_SIM_CANDEV_CHAR_IDX, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: sim_canchar_initialize() failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SIM_CANDEV_SOCK
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ret = sim_cansock_initialize(CONFIG_SIM_CANDEV_SOCK_IDX);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: sim_cansock_initialize() failed: %d\n", ret);
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}
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#endif
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return ret;
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}
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