This series adds emulation of the FlexCAN CAN controller, version 2,
found in NXP i.MX6 series SoCs. The controller is integrated into
fsl-imx6 and the Sabrelite ARM board.

The chip has two FlexCAN controllers, but the Linux Sabrelite
device tree enables only one by default. Linux kernel with both
controllers enabled has been tested to work properly (using a custom
device tree).
See docs/system/devices/can.rst for an example of QEMU command line
invocation.

More information about the implementation can be found in my bachelor
thesis [1].

The headers (struct FlexcanRegs and flexcan_regs.h macros) were copied
from the Linux kernel. Marc Kleine-Budde is the copyright holder. He
has been kindly asked to provide consent, to confirm his approval for
the inclusion of said header fragments into QEMU.

Changes from v1:
- removed DPRINTF (turned into traces or guest errors)
- removed gotos and unnecessary continues
- register memory region shortened to actual length w/o padding
- make flexcan_* fns private
- used DEVICE(s)->canonical_path instead of allocating new strings
- changed DEVICE_NATIVE_ENDIAN to DEVICE_LITTLE_ENDIAN
- removed ugly USE macro
- used enums instead of define sequences in flexcan.c
- fixed FlexCAN KConfig conf (fixes build on non-arm-softmmu)
- fixed style and other issues from Bernhard's review
- better wording in docs
- rebased onto latest master
- Link to v1: https://lore.kernel.org/qemu-devel/cover.1765826753.git.matyas.bobek@gmail.com

Thanks Bernhard Beschow for the review and his patience.
I borrowed some fixes from his flexcan branch at [2].

[1] http://dspace.cvut.cz/bitstream/handle/10467/122654/F3-BP-2025-Bobek-Matyas-BP_Bobek_FlexCAN_final_4.pdf
[2] https://github.com/shentok/qemu/tree/flexcan

Matyáš Bobek (7):
  hw/arm/sabrelite: Open code DEFINE_MACHINE_ARM
  hw/arm/sabrelite: Introduce class SabreliteMachineState
  hw/misc/imx6_ccm: Add PLL3 and CAN clock
  hw/net/can/flexcan: NXP FlexCAN core emulation
  hw/arm: Plug FlexCAN into FSL_IMX6 and Sabrelite
  tests: Add qtests for FlexCAN
  docs/arm/sabrelite: Mention FlexCAN support

 MAINTAINERS                   |    9 +
 docs/system/arm/sabrelite.rst |    1 +
 docs/system/devices/can.rst   |   24 +
 hw/arm/Kconfig                |    1 +
 hw/arm/fsl-imx6.c             |   29 +
 hw/arm/sabrelite.c            |   68 +-
 hw/misc/imx6_ccm.c            |   24 +
 hw/misc/trace-events          |    2 +
 hw/net/Kconfig                |    5 +
 hw/net/can/flexcan.c          | 1407 +++++++++++++++++++++++++++++++++
 hw/net/can/flexcan_regs.h     |  193 +++++
 hw/net/can/meson.build        |    1 +
 hw/net/can/trace-events       |   18 +
 include/hw/arm/fsl-imx6.h     |    6 +
 include/hw/misc/imx6_ccm.h    |    4 +
 include/hw/misc/imx_ccm.h     |    1 +
 include/hw/net/flexcan.h      |  142 ++++
 tests/qtest/flexcan-test.c    |  424 ++++++++++
 tests/qtest/meson.build       |    1 +
 19 files changed, 2350 insertions(+), 10 deletions(-)
 create mode 100644 hw/net/can/flexcan.c
 create mode 100644 hw/net/can/flexcan_regs.h
 create mode 100644 include/hw/net/flexcan.h
 create mode 100644 tests/qtest/flexcan-test.c

-- 
2.53.0

Dear Matyáš Bobek,

thanks for the patches update and resolve of the review comments

On Thursday 19 of March 2026 20:13:07 Matyáš Bobek wrote:
> This series adds emulation of the FlexCAN CAN controller, version 2,
> found in NXP i.MX6 series SoCs. The controller is integrated into
> fsl-imx6 and the Sabrelite ARM board.
>
> The chip has two FlexCAN controllers, but the Linux Sabrelite
> device tree enables only one by default. Linux kernel with both
> controllers enabled has been tested to work properly (using a custom
> device tree).
> See docs/system/devices/can.rst for an example of QEMU command line
> invocation.
>
> More information about the implementation can be found in my bachelor
> thesis [1].

Tested-by: Pavel Pisa <pisa@fel.cvut.cz>

I have tested the the whole series with my setup
and SabreLite kernel to communicate with host CAN
utilities over SocketCAN

qemu-system-arm -m 1G -M sabrelite -smp 4 \
      -kernel kernel-imx6q-sabrelite \
      -dtb imx6q-sabrelite.dtb \
      -initrd ramdisk.cpio \
      -serial mon:stdio \
      -nographic \
      -object can-bus,id=canbus0-bus \
      -object can-host-socketcan,if=can0,canbus=canbus0-bus,id=canbus0-socketcan \
      -machine canbus0=canbus0-bus -machine canbus1=canbus0-bus \

You can apply my tested by to all patches as well as

Reviewed-by: Pavel Pisa <pisa@fel.cvut.cz>

Best wishes,

                Pavel Pisa
    phone:      +420 603531357
    e-mail:     pisa@cmp.felk.cvut.cz
    Department of Control Engineering FEE CVUT
    Karlovo namesti 13, 121 35, Prague 2
    university: http://control.fel.cvut.cz/
    personal:   http://cmp.felk.cvut.cz/~pisa
    social:     https://social.kernel.org/ppisa
    projects:   https://www.openhub.net/accounts/ppisa
    CAN related:http://canbus.pages.fel.cvut.cz/
    RISC-V education: https://comparch.edu.cvut.cz/
    Open Technologies Research Education and Exchange Services
    https://gitlab.fel.cvut.cz/otrees/org/-/wikis/home