This demonstration illustrates the utilization of the SIL Kit Adapter vcan to establish a connection between a QEMU image equipped with a SocketCAN Interface and the Vector SIL Kit.
A comprehensive, step-by-step guide is provided to generate CAN traffic from within a QEMU image, which is then routed through a CAN interface provided by the QEMU image itself. The adapter is designed to manage this traffic, ensuring that CAN frames are efficiently transmitted to and from the SIL Kit CAN network.
Follow the steps in this section of the SIL Kit QEMU Adapter to to build the QEMU image.
Note: You should clone the whole repository in order to get all necessary helper files.
After building the QEMU image, modify the path/to/sil-kit-adapters-qemu/tools/run-silkit-qemu-demos-guest file by adding the following lines at the end:
Note: Do not forget to add a backslash "\" at the end of the existing file before adding the new lines, otherwise these new lines will not be taken into account.
-object can-bus,id=canbus0 \
-object can-host-socketcan,id=canhost0,if=can0,canbus=canbus0 \
-device kvaser_pci,canbus=canbus0
This creates a virtual CAN bus canbus0 which can be connected to the host system using the SocketCAN protocol, through the can0 interface.
In order to run the QEMU image, a can0 vcan device needs to be up and running on the host.
This can be done by executing the following commands:
sudo ip link add dev can0 type vcan
sudo ip link set up can0
After that, run the QEMU image as follows:
/path/to/sil-kit-adapters-qemu/tools/run-silkit-qemu-demos-guest
Note: Installing can-utils on your QEMU image is necessary because these command line tools are useful to manipulate CAN frames for this demonstration.
You can install them as follows:
apt update
apt install can-utils
Once you are logged in to the QEMU image, configure the can0 CAN device and set up as follows:
ip link set can0 type can bitrate 1000000
ip link set can0 up
Note: Be aware that the emulated kvaser_pci CAN device in this demo only handles Classical CAN frames. CAN FD frames are not supported.
Now is a good point to start the sil-kit-registry on your Linux host:
/path/to/SilKit-x.y.z-$ubuntu/SilKit/bin/sil-kit-registry --listen-uri 'silkit://0.0.0.0:8501'
After that, launch the sil-kit-adapter-vcan on the Linux host as well:
./bin/sil-kit-adapter-vcan --configuration ./SocketCAN/demos/SilKitConfig_Adapter.silkit.yaml
You should see the following output in the terminal where the adapter was launched:
[date time] [SilKitAdapterVcan] [info] Creating participant 'SilKitAdapterVcan' at 'silkit://localhost:8501', SIL Kit version: 4.0.45
...
[date time] [SilKitAdapterVcan] [info] Creating CAN controller 'SilKit_CAN_CTRL_1'
...
[date time] [SilKitAdapterVcan] [info] vcan device [can0] successfully opened
[date time] [SilKitAdapterVcan] [info] Created CAN device connector for [can0] on network [CAN1]
You should also see a SilKitAdapterVcan participant announcement in the SIL Kit registry terminal
[date time] [SilKitRegistry] [info] Sending known participant message to SilKitAdapterVcan, protocol version 3.1
When the previous steps are done, your set up looks like the following and the SIL Kit Adapter vcan is connected on the SIL Kit CAN1 network:
+------------------------------------------------------------------------+
|Linux Host . . . . . . . |
| +------------+ . . |
| | SIL Kit | . SIL Kit . |
| +-------------------------------+ | vcan <-----> CAN1 . |
| |QEMU Image | | Adapter | . network . |
| | | +------ʌ-----+ . . |
| | | | . . . . . . . |
| | | | |
| | +--------------+-----+----+-------v-----+ |
| | | | QEMU | | |
| | | CAN device |SocketCAN | vcan device | |
| | | can0 |Interface | can0 | |
| | +--------------+-----+----+-------------+ |
| | | |
| +-------------------------------+ |
| |
+------------------------------------------------------------------------+
At this point, if you generate some CAN frames on the can0 CAN device from the QEMU image, these frames will propagate via the SIL Kit Adapter vcan through to CAN1 SIL Kit network.
Launch the following command on the QEMU terminal to generate 300 frames:
for (( i = 1; i <= 300 ; i++ )); do
cansend can0 001#AAAABBBB
sleep 0.5
done
Any SIL Kit participants connected to the same SIL Kit CAN1 network will be able to exchange CAN frames from can0 vcan device.
In a separate Terminal, launch the sil-kit-demo-can-echo-device. This will connect it to SIL Kit's CAN1 network by default.
./bin/sil-kit-demo-can-echo-device --log Debug
You should see the following output in the terminal after launching the sil-kit-demo-can-echo-device:
[date time] [CanEchoDevice] [info] Creating participant 'CanEchoDevice' at 'silkit://localhost:8501', SIL Kit version: 4.0.36
[date time] [CanEchoDevice] [info] Connected to registry at 'tcp://127.0.0.1:8501' via 'tcp://127.0.0.1:35464' (silkit://localhost:8501)
[date time] [CanEchoDevice] [info] Creating CAN controller 'CanEchoDevice_CAN1'
Press CTRL + C to stop the process...
....
[date time] [CanEchoDevice] [debug] SIL Kit >> Demo: CAN frame (4 bytes)
[date time] [CanEchoDevice] [debug] SIL Kit >> CAN : ACK for CAN Message with transmitId=1
[date time] [CanEchoDevice] [debug] Demo >> SIL Kit : CAN frame (dlc=4 bytes, txId=1)
[date time] [CanEchoDevice] [debug] SIL Kit >> Demo: CAN frame (4 bytes)
[date time] [CanEchoDevice] [debug] SIL Kit >> CAN : ACK for CAN Message with transmitId=2
[date time] [CanEchoDevice] [debug] Demo >> SIL Kit : CAN frame (dlc=4 bytes, txId=2)
...
You should also see a CanEchoDevice participant announcement in the SIL Kit registry terminal:
[date time] [CanEchoDevice] [info] Creating participant 'CanEchoDevice' at 'silkit://localhost:8501', SIL Kit version: 4.0.45
Note: The CanEchoDevice is a SIL Kit participant on CAN1 network that echoes back CAN messages it receives after incrementing the received CAN ID by 1 and shifitng the data field by one byte to the left.
You can read the CAN frames that are transmitted by the QEMU image on Linux host, as they are fedthrough to the can0 vcan device on the host side throught the CAN Interface provided by the QEMU image. To do this you can use the following command in a Terminal on your Linux host:
candump can0
If both the previously-mentioned cansend loop and the sil-kit-demo-can-echo-device are running along with the sil-kit-adapter-vcan, you should see output similar to the following in the terminal:
can0 001 [4] AA AA BB BB
can0 002 [4] AA BB BB 00
can0 001 [4] AA AA BB BB
can0 002 [4] AA BB BB 00
.
.
As described earlier, CAN messages with ID of 001 are the ones sent from the QEMU image. On the other hand, the ones with ID 002 have been sent back from the sil-kit-demo-can-echo-device after increasing ID by 1 and applying a shift-left of data by one byte.
It is possible to integrate CANoe (16 SP3 or newer) in the previously-elaborated setup and add it as a SIL Kit participant. The steps to do this are shown here SocketCAN/README.md.
It is possible to generate CAN traffic from CANoe and to observe the reception of these frames on the CAN device inside the QEMU image. The steps to do this are shown here SocketCAN/README.md