Also added example command line usage of the Sabrelite board
with FlexCAN controllers.

Signed-off-by: Matyáš Bobek <matyas.bobek@gmail.com>
Reviewed-by: Bernhard Beschow <shentey@gmail.com>
---
 docs/system/arm/sabrelite.rst |  1 +
 docs/system/devices/can.rst   | 24 ++++++++++++++++++++++++
 2 files changed, 25 insertions(+)

diff --git a/docs/system/arm/sabrelite.rst b/docs/system/arm/sabrelite.rst
index 4ccb0560af..d3a3c01dd6 100644
--- a/docs/system/arm/sabrelite.rst
+++ b/docs/system/arm/sabrelite.rst
@@ -24,6 +24,7 @@ The SABRE Lite machine supports the following devices:
  * 4 SDHC storage controllers
  * 4 USB 2.0 host controllers
  * 5 ECSPI controllers
+ * 2 FlexCAN CAN controllers
  * 1 SST 25VF016B flash
 
 Please note above list is a complete superset the QEMU SABRE Lite machine can
diff --git a/docs/system/devices/can.rst b/docs/system/devices/can.rst
index 09121836fd..622f898952 100644
--- a/docs/system/devices/can.rst
+++ b/docs/system/devices/can.rst
@@ -173,6 +173,30 @@ The test can also be run the other way around, generating messages in the
 guest system and capturing them in the host system. Other combinations are
 also possible.
 
+Examples on how to use CAN emulation for FlexCAN on SabreLite board
+-------------------------------------------------------------------
+FlexCANs are connected to QEMU CAN buses by passing the bus IDs as machine
+properties:
+
+* property ``canbus0`` for connecting ``flexcan1``
+* property ``canbus1`` for connecting ``flexcan2``
+
+Note that upstream Linux SabreLite DTs have only a single FlexCAN (``flexcan1``)
+enabled.
+
+An example command to run QEMU emulating a Sabrelite development board
+with both FlexCANs connected to a single QEMU CAN bus (called ``qcan0``),
+bridged to host system ``can0`` interface::
+
+  qemu-system-arm -M sabrelite -smp 4 -m 1G \
+    -object can-bus,id=qcan0 \
+    -machine canbus0=qcan0 -machine canbus1=qcan0 \
+    -object can-host-socketcan,if=can0,canbus=qcan0,id=qcan0-socketcan \
+    -kernel ... -dtb ... -initrd ...
+
+Note that in the Linux guest, bitrate for the FlexCAN device is ignored,
+but needs to be set via the ``ip`` command.
+
 Links to other resources
 ------------------------
 
-- 
2.53.0