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Subject[PATCH v6 0/6] CTU CAN FD open-source IP core SocketCAN driver, PCI, platform integration and documentation
This driver adds support for the CTU CAN FD open-source IP core.
More documentation and core sources at project page
The core integration to Xilinx Zynq system as platform driver
is available (
Implementation on Intel FPGA based PCI Express board is available
from project (
The CTU CAN FD core emulation send for review for QEMU mainline.
Development repository for QEMU emulation - ctu-canfd branch of

More about CAN bus related projects used and developed at CTU FEE
on the guidepost page .

Martin Jerabek (1):
can: ctucanfd: add support for CTU CAN FD open-source IP core - bus
independent part.

Pavel Pisa (5):
dt-bindings: vendor-prefix: add prefix for the Czech Technical
University in Prague.
dt-bindings: net: can: binding for CTU CAN FD open-source IP core.
can: ctucanfd: CTU CAN FD open-source IP core - PCI bus support.
can: ctucanfd: CTU CAN FD open-source IP core - platform/SoC support.
docs: ctucanfd: CTU CAN FD open-source IP core documentation.

The version 6 changes:
- sent at 2020-10-22
- the driver has been tested with 5.9 bigendian MIPS kernel
against QEMU CTU CAN FD model and correct behavior on PCIe
virtual board for big-endian system passed
- documentation updated to reflect inclusion of SocketCAN FD
and CTU CAN FD functional model support into QEMU mainline
- the integration for Cyclone V 5CSEMA4U23C6 based DE0-Nano-SoC
Terasic board used for SkodaAuto research projects at our
university has been clean up by its author (Jaroslav Beran)
and published
- Xilinx Zynq Microzed MZ_APO based target for automatic test
updated to Debian 10 base.

The version 5 changes:
- sent at 2020-08-15
- correct Kconfig formatting according to Randy Dunlap
- silence warnings reported by make W=1 C=1 flags.
Changes suggested by Jakub Kicinski
- big thanks for core patch review by Pavel Machek
resulting in more readability and formating updates
- fix power management errors found by Pavel Machek
- removed comments from d-t bindings as suggested by Rob Herring
- selected ctu,ctucanfd-2 as alternative name to ctu,ctucanfd
which allows to bind to actual major HDL core sources version 2.x
if for some reason driver adaptation would not work on version
read from the core
- line length limit relaxed to 100 characters on some cases
where it helps to readability

The version 4 changes:
- sent at 2020-08-04
- changes summary, 169 non-merge commits, 6 driver,
32 IP core sources enhancements and fixes, 58 tests
in master and about additional 30 iso-testbench
preparation branch.
- convert device-tree binding documentation to YAML
- QEMU model of CTU CAN FD IP core and generic extension
of QEMU CAN bus emulation developed by Jan Charvat.
- driver tested on QEMU emulated Malta big-endian MIPS
platform and big endian-support fixed.
- checkpatch from 5.4 kernel used to cleanup driver formatting
- header files generated from IP core IP-Xact description
updated to include protocol exception (pex) field.
Mechanism to set it from the driver is not provided yet.

The version 3 changes:
- sent at 2019-12-21
- adapts device tree bindings documentation according to
Rob Herring suggestions.
- the driver has been separated to individual modules for core support,
PCI bus integration and platform, SoC integration.
- the FPGA design has been cleaned up and CAN protocol FSM redesigned
by Ondrej Ille (the core redesign has been reason to pause attempts to driver
- the work from February 2019 on core, test framework and driver
1601 commits in total, 436 commits in the core sources, 144 commits
in the driver, 151 documentation, 502 in tests.
- not all continuous integration tests updated for latest design version yet
- Zynq hardware in the loop test show no issues for after driver PCI and platform
separation and latest VHDL sources updates.
- driver code has been periodically tested on 4.18.5-rt3 and 4.19 long term
stable kernels.
- test of the patches before submission is run on 5.4 kernel
- the core has been integrated by Jaroslav Beran <>
into Intel FPGA based SoC used in the tester developed for Skoda auto
at Department of Measurement, Faculty of Electrical Engineering,
Czech Technical University . He has contributed
feedback and fixes to the project.

The version 2 sent at 2019-02-27

The version 1 sent at 2019-02-22

Ondrej Ille has prepared the CTU CAN IP Core sources for new release.
We are waiting with it for the driver review, our intention
is to release IP when driver is reviewed and mainlined.

DKMS CTU CAN FD driver build by OpenBuildService to ease integration
into Debian systems when driver is not provided by the distribution

Jan Charvat <> finished work to extend already
mainlined QEMU SJA1000 and SocketCAN support to provide even CAN FD
support and CTU CAN FD core support.

The patches has been sent for review to QEMU mainlining list.

Thanks in advance to all who help us to deliver the project into public.

Thanks to all colleagues, reviewers and other providing feedback,
infrastructure and enthusiasm and motivation for open-source work.

Build infrastructure and hardware is provided by
Department of Control Engineering,
Faculty of Electrical Engineering,
Czech Technical University in Prague

.../bindings/net/can/ctu,ctucanfd.yaml | 63 +
.../devicetree/bindings/vendor-prefixes.yaml | 2 +
.../ctu/FSM_TXT_Buffer_user.png | Bin 0 -> 174807 bytes
.../device_drivers/ctu/ctucanfd-driver.rst | 638 ++++++++++
drivers/net/can/Kconfig | 1 +
drivers/net/can/Makefile | 1 +
drivers/net/can/ctucanfd/Kconfig | 35 +
drivers/net/can/ctucanfd/Makefile | 13 +
drivers/net/can/ctucanfd/ctu_can_fd.c | 1105 +++++++++++++++++
drivers/net/can/ctucanfd/ctu_can_fd.h | 87 ++
drivers/net/can/ctucanfd/ctu_can_fd_frame.h | 189 +++
drivers/net/can/ctucanfd/ctu_can_fd_hw.c | 790 ++++++++++++
drivers/net/can/ctucanfd/ctu_can_fd_hw.h | 916 ++++++++++++++
drivers/net/can/ctucanfd/ctu_can_fd_pci.c | 314 +++++
.../net/can/ctucanfd/ctu_can_fd_platform.c | 142 +++
drivers/net/can/ctucanfd/ctu_can_fd_regs.h | 971 +++++++++++++++
16 files changed, 5267 insertions(+)
create mode 100644 Documentation/devicetree/bindings/net/can/ctu,ctucanfd.yaml
create mode 100644 Documentation/networking/device_drivers/ctu/FSM_TXT_Buffer_user.png
create mode 100644 Documentation/networking/device_drivers/ctu/ctucanfd-driver.rst
create mode 100644 drivers/net/can/ctucanfd/Kconfig
create mode 100644 drivers/net/can/ctucanfd/Makefile
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd.c
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd.h
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd_frame.h
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd_hw.c
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd_hw.h
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd_pci.c
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd_platform.c
create mode 100644 drivers/net/can/ctucanfd/ctu_can_fd_regs.h


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