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◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ✇✐t❤ ❈♦♥♥❡❝t✐♦♥ t♦ ❛ ❍♦st ❙②st❡♠

P❛✈❡❧ Pí➨❛✱ ❏✐♥ ❨❛♥❣✱ ▼✐❝❤❛❧ ❙♦❥❦❛

❈③❡❝❤ ❚❡❝❤♥✐❝❛❧ ❯♥✐✈❡rs✐t② ✐♥ Pr❛❣✉❡ ❋❛❝✉❧t② ♦❢ ❊❧❡❝tr✐❝❛❧ ❊♥❣✐♥❡❡r✐♥❣ ❉❡♣❛rt♠❡♥t ♦❢ ❈♦♥tr♦❧ ❊♥❣✐♥❡❡r✐♥❣

✶✼t❤ ❘❡❛❧✲❚✐♠❡ ▲✐♥✉① ❲♦r❦s❤♦♣ ❖❝t♦❜❡r ✷✷✱ ✷✵✶✺

• r❛③✱ ❆✉str✐❛

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶ ✴ ✶✽

▼♦t✐✈❛t✐♦♥

◮ ❚❤❡ ❘❚❊▼❙ ❝♦♠♠✉♥✐t② ✐♥t❡rr❡st t♦ ❤❛✈❡ ❡①t❡♥❞❛❜❧❡ ❈❆◆

s✉❜s②st❡♠

◮ ●❙♦❈ s❧♦t t♦ ✐♠♣❧❡♠❡♥t✴♣♦rt ❈❆◆ s✉❜s②st❡♠ ❣r❛♥t❡❞ ❜②

• ♦♦❣❧❡

◮ ▲✐♥❈❆◆ ❞r✐✈❡r ✐♥✐t✐❛❧❧② ❝♦♥s✐❞❡r❡❞ ◮ ❇✉t ❤♦✇ ❝♦r❡ ♠❛✐♥t❛✐♥❡rs t❡st r❡s✉❧ts ✇✐t❤♦✉t t❤❡ s❛♠❡ ❍❲ ◮ ❍♦✇ t♦ ❡♥s✉r❡ ❛✉t♦♠❛t❡❞ t❡st✐♥❣ t❤❡♥ ◮ ◆❡✇ ♣r✐♦r✐t②✱ ♣r♦✈✐❞❡ t❡st❜❡♥❝❤ t❤❡ ✜rst

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✷ ✴ ✶✽

❲❤✐❝❤ ❈❆◆ ❈♦♥tr♦❧❧❡r t♦ ❙t❛rt ✇✐t❤❄

◮ ❘❚❊▼❙ s✉♣♣♦rts ❜r♦❛❞ r❛♥❣❡ ♦❢ s②st❡♠s ❛♥❞ ❈P❯

❛r❝❤✐t❡❝t✉r❡s

◮ ◗❊▼❯ ❛♥❞ ❙❦②❡②❡ ❛r❡ ♠♦st❧② ✉s❡❞ ❢♦r ❛✉t♦♠❛t❡❞ t❡st✐♥❣ ♦❢

t❤❡ s②st❡♠ ✕ ♥♦♥❡ ♦❢ t❤❡♠ s✉♣♣♦rts ✐♥❞✉str✐❛❧ ❛♥❞ ❛✉t♦♠♦t✐✈❡ ✐♥t❡r❢❛❝❡s ❧✐❦❡ ❈❆◆

◮ ❙②st❡♠ s♣❡❝✐✜❝ t♦♦❧s ❛r❡ ✉s❡❞ t♦♦ ✕ ❡✳❣✳ ❚❙■▼ ❢♦r ❆❡r♦✢❡①

• ❘✼✶✷❘❈ ❙P❆❘❈ ✇✐t❤ ❈❆◆ ❝♦♥tr♦❧❧❡r ❡♠✉❧❛t✐♦♥ ✐♥❝❧✉❞❡❞ ❜✉t

❝♦✈❡rs s✐♥❣❧❡ t❛r❣❡t ♦♥❧②

◮ ❚❤❡ ❈❆◆ ✐♥❢r❛str✉❝t✉r❡ s❤♦✉❧❞ ❜❡ t❡st❡❞ ❛❣❛✐♥st ❛❧❧✴♠♦r❡

s✉♣♣♦rt❡❞ ❛r❝❤✐t❡❝t✉r❡s ❞✉r✐♥❣ ❞❡✈❡❧♦♣♠❡♥t

◮ ❙❏❆✶✵✵✵ ❈❆◆ ❝♦♥tr♦❧❧❡r s❡❧❡❝t❡❞ ✕ ✇❡❧❧ ❦♥♦✇✱ st✐❧❧ ♦❢t❡♥ ✉s❡❞✱

♥♦t ❞✐r❡❝t❧② t✐❡❞ t♦ s✐♥❣❧❡ ❈P❯ ❛r❝❤✐t❡❝t✉r❡

◮ ❈♦♥tr♦❧❧❡r s❤♦✉❧❞ ❜❡ ✏♣❧❛❝❡❞✑ ♦♥t♦ P❈■✴P❈■❡ ❝❛r❞ t♦ ❜❡

♣❧✉❣❛❜❧❡ t♦ ♠♦r❡ s②st❡♠s ✭①✽✻✱ P♦✇❡rP❈✱ ❆❘▼ ❛♥❞ ❙P❆❘❈ ✮

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✸ ✴ ✶✽

❆❝t✉❛❧ Pr♦❥❡❝t ❙t❛t✉s

◮ ❙t✉❞❡♥t ❏✐♥ ❨❛♥❣ ✜♥✐s❤❡❞ t❤❡ ●❙♦❈ ♣r♦❥❡❝t ✭♠❡♥t♦r P❛✈❡❧

P✐s❛✮

◮ ❚❤❡ ❜❛s✐❝ P❈■ ♠❡♠♦r②✲♠❛♣♣❡❞ ❙❏❆✶✵✵✵ ♣r♦t♦t②♣❡

✐♠♣❧❡♠❡♥t❡❞ ❞✉r✐♥❣ ●❙♦❈

◮ ❙✉♣♣♦rt❡❞ ❝♦♥♥❡❝t✐♦♥ t♦ ▲✐♥✉① ❤♦st s②st❡♠ P❋❴❈❆◆

✭❙♦❝❦❡t❈❆◆✮

◮ ❚❤❡♥ ❝♦❞❡ ❤❛s ❜❡❡♥ ❝❧❡❛♥❡❞ ❛t ❈❚❯ ◮ ❆❞❞❡❞ ❡♠✉❧❛t✐♦♥ ♦❢ ❡①✐st✐♥❣ ❍❲ ❝❛r❞

❑✈❛s❡r P❈■ s❡❧❡❝t❡❞ ❜❡❝❛✉s❡ ✇❡ ❛r❡ ❢❛♠✐❧✐❛r ✇✐t❤ ✐t ❢r♦♠ ▲✐♥❈❆◆ ❛♥❞ ♦t❤❡r ♣r♦❥❡❝ts

◮ ❲❡ ❦❡❡♣ t❤❡ ✐♠♣❧❡♠❡♥t❛t✐♦♥ ✉♣✲t♦✲❞❛t❡ ✇✐t❤ ◗❊▼❯ st❛❜❧❡

r❡❧❡❛s❡s

◮ ❯s❡❞ ♦♥❧② ❢♦r ▲✐♥✉① t✐❧❧ ♥♦✇

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✹ ✴ ✶✽

❲❤② ❇r♦❛❞❡r ❆✉❞✐❡♥❝❡ ❈❛♥ ❇❡ ■♥t❡rr❡st❡❞

◮ ❊♥❛❜❧❡s ❛✉t♦♠❛t❡❞ t❡st✐♥❣ ♦❢ ❞r✐✈❡rs ❛♥❞ s②st❡♠s ✉s✐♥❣ ❈❆◆ ◮ ❊♥❛❜❧❡s t❡sts ♦❢ ❈❆◆ ❛♣♣❧✐❝❛t✐♦♥s ✐♥ ♠✉❧t✐ ♥♦❞❡ ❡♥✈✐r♦♥♠❡♥t ◮ ❊♥❛❜❧❡s ✉♥♠♦❞✐✜❡❞ ❛♣♣❧✐❝❛t✐♦♥✱ s②st❡♠s ❛♥❞ ❞r✐✈❡rs t❡st✐♥❣

✇✐t❤ ✈✐rt✉❛❧ ❤❛r❞✇❛r❡

◮ ■❢ ♠♦r❡ ❝♦♥tr♦❧❧❡rs ♠♦❞❡❧s ✐♠♣❧❡♠❡♥t❡❞

◮ ❈❛♥ ❤❡❧♣ ✇✐t❤ ❞❡✈❡❧♦♣♠❡♥t ♦❢ ❞r✐✈❡rs ❢♦r ♥♦t ②❡t ❛✈❛✐❧❛❜❧❡ ❍❲

✇❤❡♥ s♣❡❝✐✜❝❛t✐♦♥ ❡①✐sts

◮ ❚❤❡r❡ ✐s s✐❣♥✐✜❝❛♥t ♠✐❧❡st♦♥❡ ♦♥ ❈❆◆ ✇♦r❧❞ ❤♦r✐③♦♥ ✲ ❈❆◆ ❋❉

❛♥❞ ❈❆◆♦♣❡♥ ❋❉ ✕ ❤❛r❞✇❛r❡ ✐s r❛r❡ st✐❧❧ ❜✉t ♣r❡♣❛r❛t✐♦♥ ❢♦r t❤✐s ♠❛❥♦r ❝❤❛♥❣❡ ❤❛s t♦ st❛rt ♥♦✇

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✺ ✴ ✶✽

◗❊▼❯ ❆r❝❤✐t❡❝t✉r❡ ❛♥❞ ❍♦st ❈❆◆ ❜✉s

◮ ◗❊▼❯ r✉♥s ❛s ✉s❡r✲s♣❛❝❡ ♣r♦❣r❛♠ ♦♥ t❤❡ ❤♦st ◮ ❍❛r❞✇❛r❡ ❝♦♠♣♦♥❡♥ts r❡♣r❡s❡♥t❡❞ ❜② ◗❊▼❯ ❖❜❥❡❝t ▼♦❞❡❧

✭◗❖▼✮ ❜❛s❡❞ ♦♥ ●▲✐❜ ❖❜❥❡❝ts ✭●❚❑✰✴●◆❖▼❊ ♦r✐❣✐♥✮

◮ ❉❡✈✐❝❡ ♦❜❥❡❝ts ✭◗❉❡✈ ✕ str✉❝t✉r❡ ❉❡✈✐❝❡❙t❛t❡✮ ◮ ❈♦♥♥❡❝t❡❞ t♦ ❜✉s❡s ✭str✉❝t✉r❡ ❇✉s❙t❛t❡✮✳ ◮ ❖❜❥❡❝t P❈■❉❡✈✐❝❡ ✐♥❤❡r✐ts ❢r♦♠ ◗❉❡✈ ◮ ■❢ ❤♦st ❂ ▲✐♥✉①

❈❆◆ ♣r♦t♦❝♦❧✴❛❞❞r❡ss ❢❛♠✐❧② P❋❴❈❆◆✴❆❋❴❈❆◆ ✭❙♦❝❦❡t❈❆◆✮ ❛❧❧♦✇s ❛❝❝❡ss r❡❛❧ ✭❝❛♥✵✮ ♦r s♦❢t✇❛r❡ ♦♥❧② ❤♦st ✈✐rt✉❛❧ ❈❆◆ ❜✉s ✭✈❝❛♥✵✮

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✻ ✴ ✶✽

◗❊▼❯ ❊♠✉❧❛t❡❞ ❈❆◆ ❈♦♥tr♦❧❧❡r ❉❡✈✐❝❡ ❆r❝❤✐t❡❝t✉r❡

canbus0 CanBusState host=can0 CanBusHostConnectState

CanBusClientState

QEMU HOST Linux systeml

CanBusClientState CanSJA1000State KvaserPCIState device kvaser_pci PCIDevice Emulated PCI bus

Emulated CPU, memory and IO space Data Address bus, etc

Guest system (Linux, RTEMS, etc)

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✼ ✴ ✶✽

◗❊▼❯ ❈❆◆ ❉❡✈✐❝❡ ❘❡♣r❡s❡♥t❛t✐♦♥

◮ ❙❡❡♥ ❛s P❈■ ❞❡✈✐❝❡s ❜② t❤❡ ❣✉❡st ♦♣❡r❛t✐♥❣ s②st❡♠ ◮ ❈♦♥tr♦❧❧❡rs ❣r♦✉♣s ✭✐♥t❡r❝♦♥♥❡❝t✐♦♥✮ r❡♣r❡s❡♥ts ✈✐rt✉❛❧ ❝❛♥

❜✉s❡s ❣r♦✉♣ s♣❡❝✐✜❡❞ ❜② ♣❛r❛♠❡t❡r ❝❛♥❜✉s

◮ ❈♦♥♥❡❝t✐♦♥ t♦ ❤♦st ❙♦❝❦❡t❈❆◆ ❜✉s ❝❛♥ ❜❡ s♣❡❝✐✜❡❞ ❜② ❤♦st

❛r❣✉♠❡♥t ♦♥❝❡ ♣❡r ❣r♦✉♣

◮ ●✉❡st ❛❝❝❡ss ❈❆◆ ❝♦♥tr♦❧❧❡r ❛s s❡t ♦❢ r❡❣✐st❡rs

◮ ♠❛♣♣❡❞ ✐♥t♦ ❝♦♠♣✉t❡r s②st❡♠s ♠❡♠♦r② ❛❞❞r❡ss s♣❛❝❡ ◮ r❡♣r❡s❡♥t❡❞ ❛s ■✴❖ ♣♦rts ◮ ❤✐❞❞❡♥ ❜❡❤✐♥❞ ✐♥❞❡① ❛♥❞ ❞❛t❛ r❡❣✐st❡rs

◮ ❚❤❡ ❙❏❆✶✵✵✵ s✐♥❣❧❡ ❇❆❘ ♠❡♠♦r② s♣❛❝❡ P❈■ ❞❡✈✐❝❡

✐♠♣❧❡♠❡♥t❡❞ t❤❡ ✜rst ✭t❡st❡❞ ❜② ▲✐♥❈❆◆✮

◮ ❚❤❡♥ ❝♦♠♣❧❡t❡ ❑✈❛s❡r P❈■ ❈❆◆ ❝❛r❞ ✇✐t❤ ❆▼❈❈ ❙✺✾✷✵ P❈■

❜r✐❞❣❡ ❛♥❞ ■✴❖ ♠❛♣♣❡❞ ❙❏❆✶✵✵✵ ✐♠♣❧❡♠❡♥t❡❞ ✭♠❛✐♥❧✐♥❡ ❦✈❛s❡r❴♣❝✐ ❞r✐✈❡r ❝♦♠♣❛t✐❜❧❡✮

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✽ ✴ ✶✽

❙❡t✉♣ ♦❢ ❈❆◆ ■♥st❛♥❝❡ ✐♥ ◗❊▼❯

q❡♠✉✲s②st❡♠✲①✽✻❴✻✹ ✲❞❡✈✐❝❡ ❦✈❛s❡r❴♣❝✐✱❝❛♥❜✉s❂❝❛♥❜✉s✵✱❤♦st❂❝❛♥✵ ✲❞❡✈✐❝❡ s♣❡❝✐❢② ♥♦♥ ♣❧❛t❢♦r♠ ✐♠♣❧✐❝✐t ❞❡✈✐❝❡ ✭❢♦r ❈❆◆ ♣❝✐❴❝❛♥ ♦r ❦✈❛s❡r❴♣❝✐✮ ❝❛♥❜✉s❂ ✇❤✐❝❤ ◗❊▼❯ ✈✐rt✉❛❧ ❈❆◆ ❜✉s ❝♦♥♥❡❝t t♦ ✭❞❡❢❛✉❧t ❝❛♥❜✉s✵✮ ❤♦st❂ ✇❤✐❝❤ ❤♦st s②st❡♠ ❈❆◆ ❜✉s t♦ ❝♦♥♥❡❝t t♦ ✭✉s✉❛❧❧② ❝❛♥✵ ♦r ✈❝❛♥✵ ❢♦r ✈✐rt✉❛❧ ♦♥❧② ♦♥❡✮ ♠♦❞❡❧❂ ❢♦r ♣❝✐❴❝❛♥ ❝❛♥ ❛❧❧♦✇ ❝❤♦♦s❡ ❝❤✐♣ ♠♦❞❡❧✱ ❙❏❆✶✵✵✵ ♦♥❧② ❢♦r ♥♦✇

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✾ ✴ ✶✽

❚✇♦ ■♥t❡r❝♦♥♥❡❝t❡❞ ❈❆◆ ❈♦♥tr♦❧❧❡rs ✐♥ ◗❊▼❯

q❡♠✉ ✲❞❡✈✐❝❡ ❦✈❛s❡r❴♣❝✐✱❝❛♥❜✉s❂❝❛♥❜✉s✵ ❭ ✲❞❡✈✐❝❡ ❝❛♥❴♣❝✐✱❝❛♥❜✉s❂❝❛♥❜✉s✵

canbus1 CanBusState

QEMU system emulator

CanBusClientState CanSJA1000State KvaserPCIState device kvaser_pci PCIDevice CanBusClientState CanSJA1000State CanPCIState device can_pci PCIDevice Emulated PCI bus

Emulated CPU, memory and IO space

Guest system Linux kernel, RTEMS, etc.

Data Address bus, etc

Host System

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✵ ✴ ✶✽

◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❈♦♥♥❡❝t❡❞ t♦ t❤❡ ❍♦st

q❡♠✉ ✲❞❡✈✐❝❡ ❦✈❛s❡r❴♣❝✐✱❝❛♥❜✉s❂❝❛♥❜✉s✵✱❤♦st❂❝❛♥✵

canbus0 CanBusState host=can0 CanBusHostConnectState

CanBusClientState

QEMU HOST Linux systeml

CanBusClientState CanSJA1000State KvaserPCIState device kvaser_pci PCIDevice Emulated PCI bus

Emulated CPU, memory and IO space Data Address bus, etc

Guest system (Linux, RTEMS, etc)

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✶ ✴ ✶✽

❈♦♠♣❧❡① ◗❊▼❯ ❈❆◆ ❇✉ss❡s ❙❡t✉♣

canbus0 CanBusState canbus1 CanBusState host=can0 CanBusHostConnectState

CanBusClientState

QEMU system emulator HOST system Linux kernel

SocketCAN net device can0 module kvaser_pci Kvaser PCI CAN card socket AF_CAN (can_raw) socket AF_CAN (can_raw)

Real PCI bus Real CAN bus

Host system CAN applications: candump, cangen, OrtCAN,canblaster CANopen canslave, qcanalyzer, etc.

CanBusClientState CanSJA1000State KvaserPCIState device kvaser_pci PCIDevice CanBusClientState CanSJA1000State KvaserPCIState device kvaser_pci PCIDevice CanBusClientState CanSJA1000State CanPCIState device can_pci PCIDevice Emulated PCI bus

Emulated CPU, memory and IO space

Guest system Linux kernel, RTEMS, etc.

CAN drivers SocketCAN, LinCAN, ... CAN application in virtual environments CAN application in virtual environments Data Address bus, etc

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✷ ✴ ✶✽

❈❆◆ ♦r ❆❘▼ ◗❊▼❯ ❚❛r❣❡ts

q❡♠✉✲s②st❡♠✲❛r♠ ✲❝♣✉ ❛r♠✶✶✼✻ ❭ ✲♠ ✷✺✻ ✲▼ ✈❡rs❛t✐❧❡♣❜

◮ ❈♦rt❡① ✭r❡❛❧✈✐❡✇✲♣❜①✲❛✾ ♦r ✈❡①♣r❡ss✲❛✶✺✮ ❢♦r ❉❡❜✐❛♥

❛r♠❤❢

◮ ①✐❧✐♥①✲③②♥q✲❛✾ ✐♥t❡rr❡st✐♥❣ ❜✉t ✇✐t❤♦✉t P❈■ ✐♥ ◗❊▼❯ ◮ ✈✐rt ❞❡✈✐❝❡ tr❡❡ s♣❡❝✐✜❡❞ ♠❛❝❤✐♥❡ ❤❛r❞✇❛r❡ ❢♦r ◗❊▼❯ ◮ ❇❡❛❣❧❡❇♦♥❡ ❛♥❞ ♦t❤❡r ✐❢ t❤❡✐r ❝♦♥tr♦❧❧❡r ♠♦❞❡❧ ✐♠♣❧❡♠❡♥t❡❞ ✐♥

s❡t✉♣ ✐♥❢r❛str✉❝t✉r❡

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✸ ✴ ✶✽

❈❆◆♦♣❡♥ ❛♥❞ ■♥❞✉str✐❛❧ ■✴❖ ❉❡✈✐❝❡s

◮ ❈♦♠♣❧❡t❡ ♥♦❞❡ ❡♠✉❧❛t✐♦♥ ❛♥❞ ❙❲ st❛❝❦ t❡st✐♥❣ ◮ ❈❆◆ ✐s t❤❡ ❝♦♠♠✉♥✐❝❛t✐♦♥ ❜✉t t❤❡r❡ ✐s ♦t❤❡r ❡♥❞ ✕ ■✴❖

t❡r♠✐♥❛❧s

◮ ❊①❛♠♣❧❡ ❍✉♠✉s♦❢t ▼❋✻✷✹ ❞❛t❛ ❛❝q✉✐s✐t✐♦♥ ❝❛r❞

◮ ❙✉♣♣♦rt❡❞ ❜② ♠❛✐♥❧✐♥❡ ❯■❖ ❛♥❞ ❈♦♠❡❞✐ ◮ ◗❊▼❯ ❤❛r❞✇❛r❡ ♠♦❞❡❧ ❡①✐sts

◮ ❊①♣❡r✐♠❡♥t❛❧ ❈❆◆♦♣❡♥ st❛❝❦ ❡①✐sts ✐♥ ❖rt❈❆◆ ♣r♦❥❡❝t ◮ ❚❤❡ ❈❆◆s❧❛✈❡ ♣r♦❣r❛♠ ❞✐❝t✐♦♥❛r② ❞❡✜♥❡❞ ❜② ❊❉❙ ◮ ❈♦♥♥❡❝t✐♦♥ t♦ t❤❡ ❤❛r❞✇❛r❡ ♣♦ss✐❜❧❡ ❜② s❤❛r❡❞ ❧✐❜r❛r✐❡s ◮ ❈♦♠♠❡❞✐❍❲✳s♦ ✇r✐tt❡♥t t♦ ❞❡♠♦♥str❛t❡ t❤❡ ❝♦♠♣❧❡t❡ s❡t✉♣

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✹ ✴ ✶✽

❈♦♠♣❧❡t❡ ◗❊▼❯ ❈❆◆✱ ❈❆◆♦♣❡♥✱ ❈♦♠❡❞✐✱ ▼❋✻✷✹ ❊①❛♠♣❧❡

canbus0 CanBusState host=can0 CanBusHostConnectState

CanBusClientState

QEMU HOST system Linux kernel

SocketCAN net device can0 virtual vcan only socket AF_CAN (can_raw) socket AF_CAN (can_raw) CANopen DS-401 EDS

CanBusClientState CanSJA1000State KvaserPCIState device kvaser_pci PCIDevice

Emulated CPU, mem and IO

Guest Linux kernel

kvaser_pci AF_CAN. OrtCAN lib VCA Messages, CANopen support Data

• Addr. bus

socket AF_CAN (can_raw) can-utils candump OrtCAN canslave CANopen OD libcomedi comedihw.so comedi mf6x4.ko MF624 DI DO AI AO TCP socket 55555 MF624 QT4 gui OrtCAN lib VCA Messages CANopen support OrtCAN canblaster TCP/socket qCANalyzer

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✺ ✴ ✶✽

P♦✐♥t❡rs t♦ ❖t❤❡r ❘❡❧❛t❡❞ Pr♦❥❡❝ts

◮ ❈❆◆♦♣❡♥ ❛♥❞ ♠♦♥✐t♦r✐♥❣ ❝♦❞❡

❤tt♣✿✴✴♦rt❝❛♥✳s♦✉r❝❡❢♦r❣❡✳♥❡t✴

◮ ❱✐rt✉❛❧ ❍✉♠✉s♦❢t ▼❋✻✷✹ ❞❛t❛ ❛❝q✉✐s✐t✐♦♥ ❝❛r❞

P✳ P✐s❛✱ ❘✳ ▲✐s♦✈②✱ ✏❈❖▼❊❉■ ❛♥❞ ❯■❖ ❞r✐✈❡rs ❢♦r P❈■ ▼✉❧t✐❢✉♥❝t✐♦♥ ❉❛t❛ ❆❝q✉✐s✐t✐♦♥ ❛♥❞ ●❡♥❡r✐❝ ■✴❖ ❈❛r❞s ❛♥❞ ❚❤❡✐r ◗❊▼❯ ❱✐rt✉❛❧ ❍❛r❞✇❛r❡ ❊q✉✐✈❛❧❡♥ts✑✱ ✐♥ ✶✸t❤ ❘❡❛❧✲❚✐♠❡ ▲✐♥✉① ❲♦r❦s❤♦♣✱ ❖❙❆❉▲ ✷✵✶✶

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✻ ✴ ✶✽

◗❊▼❯ ❈❆◆ P♦ss✐❜❧❡ ❊♥❤❛♥❝❡♠❡♥ts ❛♥❞ ◗✉❡st✐♦♥s

◮ ▼♦❞❡❧ ❙❏❆✶✵✵ ❋■❋❖ t♦ ❤♦❧❞ ♠♦r❡ ✐♥❝♦♠✐♥❣ ♠❡ss❛❣❡s ◮ ❈♦♥s✐❞❡r ♠❡ss❛❣❡s r❛t❡ s❧♦✇❞♦✇♥ ❛s ♦♥ r❡❛❧ ❈❆◆ ❜✉s ◮ ❙♦♠❡ ♠❡❝❤❛♥✐s♠ ♣r❡✈❡♥t t♦ s♦♠❡ ❧✐♠✐t ❧♦st ♦❢ ♠❡ss❛❣❡s ✇❤❡♥

❣✉❡st ❛♣♣❧✐❝❛t✐♦♥ ✐s s❧♦✇

◮ ❈♦♥✈❡rt ❈❆◆ ❜✉s ♠♦❞❡❧ ❢r♦♠ ♣❧❛✐♥ ❈ t♦ ◗❖▼ ✭❈♦♥tr♦❧❧❡rs ❛r❡

◗❖▼✴◗❞❡✈ ❛❧r❡❛❞②✮

◮ ▼♦r❡ ❈❆◆ ❝♦♥tr♦❧❧❡rs ♠♦❞❡❧ ❡♠✉❧❛t✐♦♥ ✭❇❖❙❈❍✴❚✐ ❈❴❈❆◆✱

❋r❡❡s❝❛❧❡ ❋❧❡①❈❆◆✱ ❡t❝✳✮

◮ ❈❆◆ ❋❉ ✭❋❧❡①✐❜❧❡ ❉❛t❛r❛t❡✮ ❝♦♥tr♦❧❧❡r ❡♠✉❧❛t✐♦♥ ❄❄❄

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✼ ✴ ✶✽

❈♦♥❝✉ss✐♦♥

◮ ❈♦❞❡ ✇♦r❦s ❢♦r ❜❛s✐❝ ❝❛s❡s ◮ ✐s ♠❛✐♥t❛✐♥❡❞ t❤r♦✉❣❤ ♠♦r❡ ◗❊▼❯ ♠❛✐♥❧✐♥❡ r❡❧❡❛s❡s ◮ ✐s ❛✈❛✐❧❛❜❧❡ ✕ ❛❝t✉❛❧ ❜r❛♥❝❤❡s ❝❛♥✲♣❝✐ ❛♥❞ ♠❡r❣❡❞✲✷✳✹

❤tt♣s✿✴✴❣✐t❤✉❜✳❝♦♠✴❈❚❯✲■■●✴q❡♠✉ ❚❤❛♥❦s ❢♦r ❛tt❡♥t✐♦♥ P❧❛❝❡ ❢♦r ②♦✉r q✉❡st✐♦♥s ❛♥❞ ❢❡❡❞❜❛❝❦

P✳ Pí➨❛✱ ▼✳ ❙♦❥❦❛ ◗❊▼❯ ❈❆◆ ❈♦♥tr♦❧❧❡r ❊♠✉❧❛t✐♦♥ ❘❚▲❲❙✶✼ ✶✽ ✴ ✶✽