A simple CAN application example.

I tested using Espressif ESP32 DevKitC: https://docs.zephyrproject.org/latest/boards/espressif/esp32_devkitc/doc/index.html

1. clone this repository wherever you like.
2. chdir to the cloned repository
   • $ cd zephyr-canapp
3. Setup build environment.
   • $ source ~/zephyrproject/zephyr/zephyr-env.sh
4. Build
   • west build -p -b esp32_devkitc/esp32/procpu .
5. Flash
   • west flash
6. Run
   • west espressif monitor
7. Use CAN shell
   • uart:~$ can help

Qemu supports CAN Bus emulation. See https://www.qemu.org/docs/master/system/devices/can.html for the details.

From my experiences, CONFIG_CAN_KVASER_PCI does not work for Zephyr qemu_kvm_arm64 board. Use qemu_x86_64 (for now).

Edit prj.conf (comment out CONFIG_CAN_ESP32_TWAI and enable CONFIG_CAN_KVASER_PCI), and build it.

$ west build -p -b qemu_x86_64 .

• Port simple_can_simulator.py bundled in AGL, Automotive Grade Linux
• Consider integration of http_server feature and exposing status/diagnostics information
• Explore UDS support in Zephyr (as a seperate project) and add UDS responder feature
• Explore integration of virtio_net and virtio_can (under development)

Apache 2.0