Add support for PCI CAN cards for QEMU: Kvaser and CTU CAN FD

Documentation/components/drivers/special/pci/index.rst

@@ -59,3 +59,50 @@ Supported devices:
 
 - Intel I225LM
 - Intel I226V
+
+Kvaser PCI CAN card
+-------------------
+
+At the moment the card only works with QEMU.
+
+The driver supports both SocketCAN interface and character driver.
+
+The driver requires, ``vcan`` to run on the host:
+
+.. code:: shell
+
+   sudo ip link add dev can0 type vcan
+   sudo ip link set can0 up
+
+An example command to run the driver on ``x86_64`` looks like this:
+
+.. code:: shell
+
+   qemu-system-x86_64 -m 2G -cpu host -enable-kvm -kernel nuttx \
+   -nographic -serial mon:stdio -object can-bus,id=canbus0 \
+   -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
+   -device kvaser_pci,canbus=canbus0
+
+
+CTUCANFD PCI CAN card
+---------------------
+
+At the moment the card only works with QEMU.
+
+The driver supports both SocketCAN interface and character driver.
+
+The driver requires, ``vcan`` to run on the host:
+
+.. code:: shell
+
+   sudo ip link add dev can0 type vcan
+   sudo ip link set can0 up
+
+An example command to run the driver on ``x86_64`` looks like this:
+
+.. code:: shell
+
+   qemu-system-x86_64 -m 2G -cpu host -enable-kvm -kernel nuttx \
+   -nographic -serial mon:stdio -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

drivers/can/CMakeLists.txt

@@ -20,12 +20,22 @@
 #
 # ##############################################################################
 
+set(SRCS)
+
 if(CONFIG_CAN)
   set(SRCS can.c can_sender.c)
+endif()
+
+if(CONFIG_CAN_MCP2515)
+  list(APPEND SRCS mcp2515.c)
+endif()
 
-  if(CONFIG_CAN_MCP2515)
-    list(APPEND SRCS mcp2515.c)
-  endif()
+if(CONFIG_CAN_KVASER)
+  list(APPEND SRCS kvaser_pci.c)
+endif()
 
-  target_sources(drivers PRIVATE ${SRCS})
+if(CONFIG_CAN_CTUCANFD)
+  list(APPEND SRCS ctucanfd_pci.c)
 endif()
+
+target_sources(drivers PRIVATE ${SRCS})

drivers/can/Kconfig

@@ -7,8 +7,10 @@ config ARCH_HAVE_CAN_ERRORS
 	bool
 	default n
 
-menuconfig CAN
-	bool "CAN Driver Support"
+menu "CAN Driver Support"
+
+config CAN
+	bool "CAN Character Driver Support"
 	default n
 	---help---
 		This selection enables building of the "upper-half" CAN driver.
@@ -267,3 +269,64 @@ config CAN_SJA1000_DEBUG
 endif # CAN_SJA1000
 
 endif # CAN
+
+config CAN_KVASER
+	bool "Kvaser PCI CAN card"
+	default n
+	depends on PCI
+	---help---
+		Enable driver support for Kvase PCI CAN card.
+		NOTE: for now works only with QEMU
+
+if CAN_KVASER
+
+choice
+	prompt "Kvaser PCI CAN device type"
+	default CAN_KVASER_CHARDEV if CAN
+	default CAN_KVASER_SOCKET if NET_CAN
+
+config CAN_KVASER_CHARDEV
+	bool "Kvaser PCI can device as chardev"
+	depends on CAN
+	select ARCH_HAVE_CAN_ERRORS
+
+config CAN_KVASER_SOCKET
+	bool "Kvaser PCI can device as socketCAN"
+	depends on NET_CAN
+	select NET_CAN_HAVE_ERRORS
+
+endchoice # "Kvaser PCI CAN device type"
+
+endif # CAN_KVASER
+
+config CAN_CTUCANFD
+	bool "CTUCANFD PCI CAN card"
+	default n
+	depends on PCI
+	---help---
+		Enable driver support for CTU CAN FD PCI card.
+		NOTE: for now works only with QEMU
+
+if CAN_CTUCANFD
+
+choice
+	prompt "CTU CAN FD PCI CAN device type"
+	default CAN_CTUCANFD_CHARDEV if CAN
+	default CAN_CTUCANFD_SOCKET if NET_CAN
+
+config CAN_CTUCANFD_CHARDEV
+	bool "CTU CAN FD PCI can device as chardev"
+	depends on CAN
+	select ARCH_HAVE_CAN_ERRORS
+
+config CAN_CTUCANFD_SOCKET
+	bool "CTU CAN FD PCI can device as socketCAN"
+	depends on NET_CAN
+	select NET_CAN_HAVE_ERRORS
+	select NET_CAN_HAVE_CANFD
+
+endchoice # "CTU CAN FD PCI CAN device type"
+
+endif # CAN_CTUCANFD
+
+endmenu # CAN Driver Support

drivers/can/Make.defs

@@ -23,8 +23,8 @@
 # Don't build anything if there is no CAN support
 
 ifeq ($(CONFIG_CAN),y)
-
 CSRCS += can.c can_sender.c
+endif
 
 ifeq ($(CONFIG_CAN_MCP2515),y)
 CSRCS += mcp2515.c
@@ -34,9 +34,16 @@ ifeq ($(CONFIG_CAN_SJA1000),y)
   CSRCS += sja1000.c
 endif
 
+ifeq ($(CONFIG_CAN_KVASER),y)
+CSRCS += kvaser_pci.c
+endif
+
+ifeq ($(CONFIG_CAN_CTUCANFD),y)
+CSRCS += ctucanfd_pci.c
+endif
+
 # Include CAN device driver build support
 
 DEPPATH += --dep-path can
 VPATH += :can
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)drivers$(DELIM)can
-endif