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Subject[PATCH v3 0/6] CTU CAN FD open-source IP core SocketCAN driver, PCI, platform integration and documentation
From: Pavel Pisa <>

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 FGA based PCI Express board is available
from project (
More about CAN related projects used and developed at the Faculty
of the Electrical Engineering (
of Czech Technical University (
in at Prague .

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 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 3 chages:
- 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 Onrej 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 docuemnation, 502 in tests.
- not all continuos 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
feedbak and fixes to the project.

Ondrej Ille prepares the CTU CAN IP Core sources for new release now.
It should happen in one or two months. Intention is to finalize
review of the patches and updates according to the comments by that
time, ideally to be on the way to mainline when IP is released.

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

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

Planned time of the thesis submission is the summer 2020.
QEMU mainlining efforts should start in optimal case by that time.

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

.../devicetree/bindings/net/can/ctu,ctucanfd.txt | 61 ++
.../devicetree/bindings/vendor-prefixes.yaml | 2 +
.../device_drivers/ctu/FSM_TXT_Buffer_user.png | Bin 0 -> 174807 bytes
.../device_drivers/ctu/ctucanfd-driver.rst | 613 +++++++++++
drivers/net/can/Kconfig | 1 +
drivers/net/can/Makefile | 1 +
drivers/net/can/ctucanfd/Kconfig | 38 +
drivers/net/can/ctucanfd/Makefile | 13 +
drivers/net/can/ctucanfd/ctu_can_fd.c | 1116 ++++++++++++++++++++
drivers/net/can/ctucanfd/ctu_can_fd.h | 88 ++
drivers/net/can/ctucanfd/ctu_can_fd_frame.h | 190 ++++
drivers/net/can/ctucanfd/ctu_can_fd_hw.c | 781 ++++++++++++++
drivers/net/can/ctucanfd/ctu_can_fd_hw.h | 917 ++++++++++++++++
drivers/net/can/ctucanfd/ctu_can_fd_pci.c | 316 ++++++
drivers/net/can/ctucanfd/ctu_can_fd_platform.c | 145 +++
drivers/net/can/ctucanfd/ctu_can_fd_regs.h | 965 +++++++++++++++++
16 files changed, 5247 insertions(+)
create mode 100644 Documentation/devicetree/bindings/net/can/ctu,ctucanfd.txt
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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